Impedance Control Method for Space Manipulator System In On-orbit Self-assembly Task

2018 4th International Conference on Environmental Science and Material Application

生态环境科学;材料科学

Zhou, Yucheng^1 ; Jia, Qingxuan^1 ; Chen, Gang^1

School of Automation, Beijing University of Posts and Telecommunications, No.10 Xitucheng Road, Haidian District, Beijing

100876, China^1

关键词: Closed-chains;    Dynamic parameters;    Impedance control;    Impedance control methods;    On-orbit assembly;    Space manipulators;    Stability control;    System Dynamics;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/252/3/032123/pdf
DOI  :  10.1088/1755-1315/252/3/032123

来源: IOP

【 摘 要 】

To complete the large-load on-orbit self-assembly mission successfully, an impedance control method for the space manipulator system is researched in this paper. Considering the uncertainty of dynamic parameters and assembly environment, the dynamic model of space manipulator system is established. Furthermore, the system dynamics is analyzed for the closed chain structure consisting of the manipulator. In order to realize a stable on-orbit assembly under the disturbance caused by the collision, the compliance control strategy of space manipulator and the stability control strategy of spacecraft base is researched. Finally, taking the typical 7-DOF space manipulator as an example, a simulation is carried out, which shows that the proposed impedance control algorithm is effective.