Research on the Space Manipulator Control in Capturing Object Based on Noncontact Impedance Control

Zhi Gang Chen; Cui Ru Wu; Guang Yu Zhang

doi:10.4028/www.scientific.net/AMR.546-547.1014

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 546-547Research on the Space Manipulator Control in...

Research on the Space Manipulator Control in Capturing Object Based on Noncontact Impedance Control

Abstract:

This paper discusses the control of free flying space manipulators in the impact process which happens in the capturing operation. To solve the intense coupling of the kinematics and dynamics between the space manipulator and the base, this paper builds the noncontact impedance control model of the 6-joint space manipulator system, which can control the space manipulator before impacting with the objects. Computer simulations are performed to verify that the noncontact impedance control method can make the end-effector of the space manipulator keep desired dynamic characteristics and the adjustment of virtual impedance parameters can control the impact force value efficiently.

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Periodical:

Advanced Materials Research (Volumes 546-547)

Pages:

1014-1019

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.546-547.1014

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Online since:

July 2012

Authors:

Zhi Gang Chen, Cui Ru Wu, Guang Yu Zhang

Keywords:

Impact, Impedance Control, Space Manipulator

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