Impedance Control of Space Robot

P.M. Pathak, A. Mukerjee, and A. Dasgupta (India)


Bond graph modeling, space robots, impedance control,compensation gain.


The force control of a space robot is a difficult task as the interaction of robot tip with environment causes the base to change its position and orientation. This condition can be avoided by the use of jets/attitude controller. Impedance control is an efficient method for trajectory and force control in 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. In this paper a scheme is presented in which the control of impedance at the end-effector environment interface is achieved by introduction of a passive degree of freedom in the robotic system in the controller. The impedance depends upon a gain compensation for the dynamics of the passive degree of freedom.

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