Applied Research in Cartesian Impedance Control for 6-UPS Space Docking Mechanism-Reference-Cited by-同舟云学术

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

Published:2014-04 Issue: Volume:540 Page:363-367
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Sun Ze Yang¹,Liu Gang Feng¹,Wang Meng²,Chen Xue Sheng²,Zhao Jie¹

Affiliation:

1. Harbin Institute of Technology

2. Beijing Institute of Space System Engineering

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.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.540.363.pdf

Reference7 articles.

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