Abstract
Aiming at space transposition using Space Robotic Arm (SRA), flexible docking between SRA’s end effecter (EE) and grapple fixture (GF) is the most important for space tasks. To avoid position errors leading to large contact force between EE and GF in the docking process, an adaptive impedance control method is proposed in this paper. PID feedforward with adaptive parameters is added into the impedance controller, and the force error function is used to deduce the adaptive parameters according to Lyapunov stability theory, which makes the force error decrease automatically during the connection process. Simulation proves that the adaptive impedance strategy gets better force control effect than the traditional impedance algorithm. Finally the SRA EE/GF connection experiments were conducted respectively based on traditional and adaptive impedance control strategy. The results showed that the adaptive impedance control strategy can achieve better control effect than the traditional strategy.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ismail, S.Z., Al-Qaisia, A.A., Al-Bedoor, B.O.: Dynamic model of a rotating flexible arm-flexible root mechanism driven by a shaft flexible in torsion. Shock Vib. 13(6), 577–593 (2006)
Al-Yahmadi, A.S., Abdo, J., Hsia, T.C.: Modeling and control of two manipulators handling a flexible object. J. Franklin Inst. 344(5), 349–361 (2007)
Dubanchet, V., Saussié, D., Alazard, D., Bérard, C., Le Peuvédic, C.: Motion planning and control of a space robot to capture a tumbling debris. Adv. Aerosp. Guidance Navig. Control, 699–717 (2015)
Wu Jianwei, S.H.I., Shicai, L.H., Hegao, C.A.I.: spacecraft attitude disturbance optimization of space robot. Robot 33(1), 16–27 (2011)
Merat, P., Aghili, F., Su, C.Y.: Modeling, control and Simulation of a 6-DOF reconfigurable space manipulator with lockable cylindrical joints. Intell. Robot. Appl. 8103, 121–131 (2013)
Dubanchet, V., Saussié, D., Alazard, D., Bérard, C., Le Peuvédic, C.: Modeling and control of a space robot for active debris removal. Ceas Space J. 7, 203–218 (2015)
Pisculli, A., Gasbarri, P.: A minimum state multibody/FEM approach for modeling flexible orbiting space systems. Acta Astronaut. 110, 324–340 (2015)
Xu, W., Zhou, R., Meng, D.: A hybrid force /position control method of space robot performing. J. Astronaut. 34(10), 1353–1361 (2013)
Huaiwu, Z., Hongxia, X., Xiaofeng, S., Meng, C.: Dynamic modeling and simulation research of space station assembly on orbit by large-scale robotic arm. In: 2015 IEEE International Conference on Information and Automation, Lijiang, China, pp. 2281–2286 (2015)
Chen, Y., Yang, Y., Qian, H., Xu, Y.: The design of robot for space station operation. In: 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, pp. 247–252 (2012)
Pathak, P.M., Mukherjee, A., Dasgupta, A.: Impedance control of space robots using passive degrees of freedom in controller domain. J. Dyn. Syst. Meas. Control 127(4), 564–578 (2005)
Pathak, P.M., Mukherjee, A., Dasgupta, A.: Impedance control of space robot. Int. J. Model. Simul. 26(4), 316 (2006)
Chen, C., Nie, H., Chen, J., Wang, X.: A velocity-based impedance control system for a lowimpact docking mechanism (LIDM). Sensors (Switzerland) 14, 22998–23016 (2014)
Mo, Y., Gao, S., Jiang, Z., Li, H., Huang, Q.: Impedance control with force signal compensation on space manipulator-assisted docking mission. In: 2014 IEEE International Conference on Information and Automation, Hailar, China, pp. 1239–1243 (2014)
Patolia, H., Pathak, P.M., Jain, S.C.: Design of a virtual foundation for impedance control in a dual arm cooperative space robot. Simulation 88, 731–745 (2012)
Acknowledgements
This work was supported by National High-tech R&D Program of China (No. 2014AA041601, No. 2015BAF09B02) and China Postdoctoral Science Foundation (No. 2014M561338).
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Liu, G., Li, C., Song, C., Li, L., Zhao, J. (2017). Adaptive Impedance Control for Docking of Space Robotic Arm Based on Its End Force/Torque Sensor. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_52
Download citation
DOI: https://doi.org/10.1007/978-3-319-48036-7_52
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48035-0
Online ISBN: 978-3-319-48036-7
eBook Packages: EngineeringEngineering (R0)