The Analysis of Free-Floating Space Manipulator when Tracking Desired Force/Position

Abstract:

For free-floating space manipulator, a double loop control law is applied to the manipulator to achieve the force/position tracking of the end-effector, and the influence to the manipulator system is analyzed in this paper. First, the dynamic model is established based on Lagrange's equations. On this basis, a double loop control law which is based on the idea of impedance control is applied to the manipulator. During the force/position tracking, the influence of each part of free-floating space manipulator is analyzed, especially the base attitude disturbance. Finally, a simulation is given to show the analyze results.

• Periodical: Applied Mechanics and Materials (Volume 742)
• Pages: 560-566
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.742.560
• Online since: March 2015
• Authors: Long Zhang*, Qing Xuan Jia, Gang Chen, Han Xu Sun
• Keywords: Dynamics, Force/Position Tracking, Free-Floating Space Manipulator

References

[1] N. Hogan, Impedance control: an approach to manipulation. Parts I-III, Journal of Dynamic Systems, Measurement, and Control. Vol. 107(1985), pp.1-24.

DOI: 10.1115/1.3140701

[2] O. Khatib, A unified approach for motion and force control of robot manipulators: the operational space formulation. IEEE Journal of Robotics and Automation. Vol. RA-3(1987), pp.43-53.

DOI: 10.1109/jra.1987.1087068

[3] S. Chiaverini, L. Sciavicco. The parallel approach to force/position control of robotic manipulators. IEEE Transactions on Robotics and Automation. Vol. 9(1993), pp.361-373.

DOI: 10.1109/70.246048

[4] C.C. Cheah, S. Kawamura, S. Arimoto. Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties. Automatica. Vol. 39(2003), pp.847-855.

DOI: 10.1016/s0005-1098(03)00002-5

[5] S.C. Chiu, Y.K. Lian, C.T. Wu. Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators. Automatica. Vol. 40(2004), pp.2111-2119.

DOI: 10.1016/s0005-1098(04)00195-5

[6] N. Kumar, V. Panwar, N. Sukavanam, et al. Neural network based hybrid force/position control for robot manipulators. International Journal of Precision Engineering and Manufacturing. Vol. 12(2011), pp.419-426.

DOI: 10.1007/s12541-011-0054-3

[7] H. Wang, Y. Xie. Adaptive Jacobian position/force tracking control of free-flying manipulators, Robotics and Autonomous Systems. Vol. 57(2009), pp.173-181.

DOI: 10.1016/j.robot.2008.05.003

[8] H. Nakanishi, K. Yoshida. Impedance control for free-flying space robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 9-15, (2006).

DOI: 10.1109/iros.2006.282334