›› 2014, Vol. 34 ›› Issue (6): 57-.doi: 10.3780/j.issn.1000-758X.2014.06.008

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Impedance Control of Space Flexible Manipulator System Assisted Docking of Space Station

 WEI  Qing-Qing, LIU  Zhi-Quan, WANG  Yao-Bing, SHAO  Li-Min   

  1. (China Academy of SpaceTechnology,Beijing 100094)
  • Received:2014-04-30 Revised:2014-07-28 Online:2014-12-25 Published:2014-12-25

Abstract: Control and measurement errors could lead to great contact forces during the space flexible manipulator assisted spacecraft docking.Theforce sensor could not get rid of the inertia force and it would make the manipulator more flexible.To solve these problems,a dynamic model of space manipulator was established as the feed forward input of the joints torque.The impedance control scheme was established,and a dynamic model of a system consisted of a space manipulator and a space station was built by the software of ADAMS. The co-simulation was done by the software of Matlab and  ADAMS.The results show that the space manipulator system works correctly even through the interfering forces during the simulation.The space manipulator system  also operates correctly in the docking direction,and is free in the other directions so that it can adapt to thes pace manipulator system assisted spacecraft docking.Atthesametime,thesystem canovercometheinfluenceofthebigload of the space station to the force measurement by measuring the joints parameters.While,it will not make the space manipulator more flexible.

Key words: Compressive imaging, Single pixel;Motion compensation, Recovery with sparsity constraint, Optical camera, Space remote sensing