IMPEDANCE CONTROL OF SPACE ROBOT

摘要

The force control of a space robot is a difficult task, as the interaction of robot tip with the environment causes the base to change its position and orientation. Impedance control is an efficient method for trajectory and force control in a robotic system. The procedure by which the impedance of the manipulator is changed is a very important aspect in the design of impedance-based control schemes. This paper presents a scheme in which the control of impedance at the end-effector environment interface is achieved by introduction of a passive degree of freedom (DOF) in the robotic system in the controller. The impedance depends upon a gain compensation for the dynamics of the passive DOF.