Applied Research in Cartesian Impedance Control for 6-UPS Space Docking Mechanism

Ze Yang Sun; Gang Feng Liu; Meng Wang; Xue Sheng Chen; Jie Zhao

doi:10.4028/www.scientific.net/AMM.540.363

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 540Applied Research in Cartesian Impedance Control...

Applied Research in Cartesian Impedance Control for 6-UPS Space Docking Mechanism

Abstract:

In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective Cartesian impedance control method based on the feedback signal from 6 force sensors is presented, and a brief introduction to the mechanical structure of the 6-UPS docking mechanism and the control structure of the docking system is given. According to the data analysis of ground experiment, this control method can tremendously improve the buffer effect in the docking stage with the parameters optimized in Simulink.

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Periodical:

Applied Mechanics and Materials (Volume 540)

Pages:

363-367

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.540.363

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Online since:

April 2014

Authors:

Ze Yang Sun*, Gang Feng Liu, Meng Wang, Xue Sheng Chen, Jie Zhao

Keywords:

6-UPS Parallel Mechanism, Impedance Control System, Simulink Optimization

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