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

doi:10.3780/j.issn.1000-758X.2014.06.008

Abstract

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

WEI Qing-Qing, LIU Zhi-Quan, WANG Yao-Bing, SHAO Li-Min. Impedance Control of Space Flexible Manipulator System Assisted Docking of Space Station[J]. , 2014, 34(6): 57-.

0
/ / Recommend

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://journal26.magtechjournal.com/kjkxjs/EN/10.3780/j.issn.1000-758X.2014.06.008

http://journal26.magtechjournal.com/kjkxjs/EN/Y2014/V34/I6/57

[1]	JIANG Wei, CHEN Shi-Ping. Aliased Noise of Optical Sampling Imaging System for Space Remote Sensing [J]. , 2011, 31(6): 43-49.
[2]	ZENG De-Xian, DU Xiao-Ping. Influence of Detector’s Pixel Size on Performance of Optical Detection System [J]. , 2011, 31(3): 51-55.
[3]	Zeng Yong1 Chen Shiping2 Yu Jin1 (1 China Center for Resources Satellite Data and Application,Beijing 100094) (2 China Academy of Space Technology,Beijing 100081). Modulation Transfer Function Compensation Technology of Optical Remote Sensing Imaging System [J]. , 2010, 30(04): 38-43.
[4]	Yu Junsheng1 Chen Xiaodong2 Miao Jungang3 Liu Shaohua1 Xu Liang2 Liu Xiaoming1 Su Hansheng1 Wei Qin'gang1 Mai Yuan1 Liu Hairui1 Bai Ming3 (1 Beijing University of Posts and Telecommunications,Beijing 100876) (2 Queen Mary,University of London,London E1 4NS) (3 Beihang University,Beijing 100191). Dual-path Quasi-optical System for Space Remote Sensing [J]. , 2010, 30(04): 58-63.
[5]	Yao Lele Zhao Wei Fan Shiming(Beijing Institute of Satellite Information Engineering,Beijing 100086). Study on Relative Radiometric Calibration of the Spatially Modulated Imaging Fourier Transform Spectrometer [J]. , 2009, 29(05): 48-53.
[6]	Zhu Yunhua Wang Fengyang Liu Yong Dong Yong (Shandong Aerospace Electro-technology Institute,Yantai 264000). Implementation and Application Study of CCSDS Lossless Data Compression Algorithm [J]. , 2008, 28(04): 40-46.
[7]	Yuan Zhenyu1 Wang Zhengming1 Wang Guangxin1,2 Wang Weiwei1(1 Science College,National University of Defense Technology,Changsha 410073)(2 Guilin Air Force College,Guilin 541003). Simplified Calculation of Regularization of Synthetic Aperture Radar Image Point Target Supper-resolution [J]. , 2008, 28(01): 41-46.
[8]	Zeng Yong (China Center for Resources Satellite Data and Applications, Beijing 100830) Yan Ronghua (National Geomatics Center of China, Beijing 100044). Research of Remote Image Lossly Compression in Control [J]. , 2005, 25(01): -.
[9]	Gu Mingli (Beijing Institute of Space Mechanics & Electricity, Beijing 100076). Progress of the Solar Calibration Technique for Space-borne Multispectral Sensors [J]. , 2002, 22(02): -.
[10]	Yang Hua Fu Ruimin ( Beijing Institute of Space Machine and Electricity,Beijing10 0 0 80 ). Strategic Reserve for Space Remote Sensor [J]. , 2002, 22(01): -.
[11]	Wang Jun Wang Jiaqi Lu E (Changchun Institute of Optics and Fine Mechanics,Changchun 130022) Wang Xin (Jilin University of Technology,Changchun 130025). A Study on the Equivalent Model of Second Reflect Mirror Unit of a Remote Sensing Camera [J]. , 2000, 20(03): -.
[12]	Zhang Fu(Shanghai Shiner Optoelectronics Company,Shanghai Institute of Mechanical Engineering, Shanghai 200093). INFORMATION PROCESSING AND ANALYSIS OF SPACE IMAGING SPECTROMETRY [J]. , 1994, 14(01): -.
[13]	Zhang Fu (Shanghai Shiner Optoelectronics Company,Shanghai Institute of Mechanical Engineering). INFORMATION ACQUISITION AND TRANSMISSION OF SPACEBORNE IMAGING SPECTROMETRY [J]. , 1993, 13(06): 22-27.
[14]	Ge Zhijiang (Beijing Institute of Spacecraft System Engineering). APPLICATION OF GPS POSITIONING FOR SPACE REMOTE SENSING [J]. , 1993, 13(04): -.

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

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 14

Recommended Articles

Metrics

Comments