A Compliance Control Strategy for Minimizing Base Attitude Disturbance Using Variable Stiffness Joint Space Manipulator

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10639)


The base attitude of a free-floating space robot is disturbed during capturing targets. Based on the variable stiffness technology, this paper presents a compliance control strategy for minimizing the base attitude disturbance. Firstly, the dynamic model of space manipulator system is established by using the Lagrange equation. Secondly, the differential evolution algorithm is utilized to design the control strategy of variable stiffness joint space manipulator. The simulation results reflect that the influence introduced by impact is obviously reduced, which verify the effectiveness of the control strategy.


Minimize disturbance Space manipulator Variable stiffness Differential evolution 



This work was supported in part by Scientific and Technological Innovation Projects of General Armament Department under grant No. ZYX12010001 and National Key Basic Research Program of China under grant No. 2013CB733000.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.School of AutomationBeijing University of Posts and TelecommunicationsBeijingChina
  2. 2.Department of Information EquipmentAcademy of EquipmentBeijingPeople’s Republic of China

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