Impedance control with force signal compensation on space manipulator-assisted docking mission

Aiming at the task demands for space manipulator docking massive module, this paper studies the problem that docking mechanism cannot achieve docking due to the low precision of manipulator pose caused by factors such as flexibility of big wingspan manipulator, control error, mechanism error. First, this paper analyzes the docking mechanism in the docking mission, finds out that there is uniformity between the direction of force applied in the docking mechanism and the direction of centralization pose error of peg and hole decreased, and verifies the feasibility of impedance control algorithm. Then, because 6-D force sensor is installed far from docking mechanism and massive docking module leads to big inertia force, impedance control algorithm cannot get the force signals that reflect the actual situation of docking mechanism. For this matter, this paper proposes a 6-D force signals compensation algorithm to guarantee the correctness of impedance control calculation. Simulation experiment results indicate that impedance control algorithm with force signals compensation can both docking successfully and reducing the contact force effectively.

[1]  Graham Gibbs,et al.  Canada and the International Space Station program: overview and status. , 2002, Acta astronautica.

[2]  Douglas J. Zimpfer,et al.  Autonomous Rendezvous, Capture and In-Space Assembly: Past, Present and Future , 2005 .

[3]  Pushparaj Mani Pathak,et al.  Impedance Control of Space Robots Using Passive Degrees of Freedom in Controller Domain , 2005 .

[4]  Gary H Kitmacher,et al.  The International Space Station: a pathway to the future. , 2005, Acta astronautica.

[5]  Pushparaj Mani Pathak,et al.  Impedance Control of Space Robot , 2006 .

[6]  Qiang Huang,et al.  Compliance control of a humanoid arm based on force feedback , 2005, 2005 IEEE International Conference on Information Acquisition.

[7]  和哉 吉田,et al.  Impedance control of space robot in satellite capture , 2006 .

[8]  Jennifer L. Rhatigan,et al.  International Space Station Science Research Accomplishments During the Assembly Years: An Analysis of Results from 2000-2008 , 2012 .

[9]  Pushparaj Mani Pathak,et al.  Impedance Control of Space Robot , 2006 .

[10]  Hao Wu,et al.  Active gripping impedance force control with dual fingers hand , 2011, Proceedings of 2011 International Conference on Electronic & Mechanical Engineering and Information Technology.

[11]  P. Chiacchio,et al.  Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators , 2008, IEEE/ASME Transactions on Mechatronics.

[12]  Jan F. Broenink,et al.  Peg-in-Hole assembly using Impedance Control with a 6 DOF Robot , 1996 .

[13]  Graham Gibbs,et al.  Canada and The International Space Station Program... , 2005 .

[14]  G. S. Sandhoo,et al.  Rendezvous and Docking for Space Exploration , 2005 .

[15]  John J. Uri,et al.  International Space Station - a unique place for research , 2003, 2003 IEEE Aerospace Conference Proceedings (Cat. No.03TH8652).