A Control Method of Space Manipulator for Peg-in-Hole Assembly Task Considering Equivalent Stiffness Optimization

To meet the control requirements of high precision and high robustness for peg-in-hole assembly tasks, an optimized control method for a peg-in-hole assembly task of a space manipulator is proposed to reduce the system disturbance caused by the change contact status during the assembly process. The...

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Bibliographic Details
Published in:Aerospace
Main Authors: Guangtang Pan, Qingxuan Jia, Gang Chen, Tong Li, Chuankai Liu
Format: Article
Language:English
Published: MDPI AG 2021-10-01
Subjects:
peg-in-hole assembly task
space manipulator
equivalent stiffness
impedance control
zero-sum optimal
Online Access:https://www.mdpi.com/2226-4310/8/10/310

Internet

https://www.mdpi.com/2226-4310/8/10/310

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