Abstract
Based on the background of compliance control, this paper first introduces compliance control's significance, then analyzes the advantages and limitations of the current mainstream compliance control, including Impedance control, Force/position hybrid control, Modern, compliant control, Intelligent, compliant control. Moreover, this paper puts forward the limitations and the possible development direction of these schemes.
Publisher
Darcy & Roy Press Co. Ltd.
Reference5 articles.
1. Wu Cuiru. Research on non-cooperative target docking path planning and compliance control [D]. Harbin Institute of Technology, 2012.
2. Nenchev, D. N, Yoshida, et al. Impact analysis and post-impact motion control issues of a free-floating Space robot subject to a force impulse[J]. Robotics and Automation, IEEE Transactions on, 1999.
3. Wee L B, Walker M W. On the dynamics of contact between space robots and configuration control for impact minimization[J]. IEEE Transactions on Robotics and Automation, 1993, 9(5): 581-591.
4. Abiko S, Lampariello R, Hirzinger G. Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty[C]// IEEE/RSJ International Conference on Intelligent Robots & Systems. IEEE, 2006.
5. Tang Qirong, Li Jie, Zhang Lingkai, et al. Review of research on compliant capture technology based on space manipulators [J]. Shanghai Aerospace, 2019, 36(3): 110-118.