@inproceedings{1abf31bd86974c3d99eafac0d84dddc8,
title = "Applied research in cartesian impedance control for 6-UPS space docking mechanism",
abstract = "In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective Cartesian impedance control method based on the feedback signal from 6 force sensors is presented, and a brief introduction to the mechanical structure of the 6-UPS docking mechanism and the control structure of the docking system is given. According to the data analysis of ground experiment, this control method can tremendously improve the buffer effect in the docking stage with the parameters optimized in Simulink.",
keywords = "6-UPS parallel mechanism, Impedance control system, Simulink optimization",
author = "Sun, \{Ze Yang\} and Liu, \{Gang Feng\} and Meng Wang and Chen, \{Xue Sheng\} and Jie Zhao",
year = "2014",
doi = "10.4028/www.scientific.net/AMM.540.363",
language = "英语",
isbn = "9783038350958",
series = "Applied Mechanics and Materials",
publisher = "Trans Tech Publications",
pages = "363--367",
booktitle = "Advanced Research on Mechanics, Manufacturing Engineering and Applied Technology II",
address = "德国",
note = "2nd International Conference on Applied Mechanics and Manufacturing System, AMMS 2014 ; Conference date: 26-04-2014 Through 27-04-2014",
}