Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator
Joint Authors
Yu, Hongliu
Han, Liangliang
Chen, Huanlong
Hu, Bingshan
Source
International Journal of Aerospace Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-03
Country of Publication
Egypt
No. of Pages
17
Abstract EN
The space station manipulator does lots of tasks with contact force/torque on orbit.
To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled.
Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed.
For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied.
To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed.
In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed.
Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform.
Finally, the ORU replacement and dual arm collaborative payload transport experiments are done.
Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.
American Psychological Association (APA)
Hu, Bingshan& Chen, Huanlong& Han, Liangliang& Yu, Hongliu. 2020. Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator. International Journal of Aerospace Engineering،Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1168533
Modern Language Association (MLA)
Hu, Bingshan…[et al.]. Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator. International Journal of Aerospace Engineering No. 2020 (2020), pp.1-17.
https://search.emarefa.net/detail/BIM-1168533
American Medical Association (AMA)
Hu, Bingshan& Chen, Huanlong& Han, Liangliang& Yu, Hongliu. Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator. International Journal of Aerospace Engineering. 2020. Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1168533
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1168533