@inproceedings{98a16117109f4ecf88fc8e2f0bf7daf6,
title = "Cartesian impedance control for space robotic arm based on end force/torque sensor",
abstract = "A Cartesian impedance control for a 7-DOF space robotic arm (SRA) based on the feedback from a 6-dimensional force/torque sensor on its end effecter is presented in this paper. The unavoidable position error of SRA would generate large contact forces during the connection between SRA's end effecter (EE) and grapple fixture (GF). To control the contact force we used 6D force feedback to modify the desired trajectory controlling a PID position inner loop to make the manipulator exert desired impedance dynamic properties on its end-effecter. After optimization of impedance parameters in Simulink, this control strategy has significantly improved the force control effect in EE/GF connection experiment. Kinematic solution of the 7-DOF redundant manipulator is also provided.",
keywords = "Impedance control, Redundant, Simulink, Space robotic arm",
author = "Xiaoxing Dong and Ge Li and Gangfeng Liu and Jie Zhao",
year = "2013",
doi = "10.4028/www.scientific.net/AMM.268-270.1531",
language = "英语",
isbn = "9783037855799",
series = "Applied Mechanics and Materials",
number = "PART 1",
pages = "1531--1537",
booktitle = "Materials, Mechanical Engineering and Manufacture",
edition = "PART 1",
note = "2nd International Conference on Applied Mechanics, Materials and Manufacturing, ICAMMM 2012 ; Conference date: 17-11-2012 Through 18-11-2012",
}