Research on the Space Manipulator Control in Capturing Object Based on Noncontact Impedance Control-Reference-Cited by-同舟云学术

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

Published:2012-07 Issue: Volume:546-547 Page:1014-1019
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Chen Zhi Gang¹,Wu Cui Ru¹,Zhang Guang Yu¹

Affiliation:

1. Harbin Institute of Technology

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.

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.546-547.1014.pdf

Reference8 articles.

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