Abstract
To complete the large-load on-orbit self-assembly mission successfully, an impedance control method for the space manipulator system is researched in this paper. Considering the uncertainty of dynamic parameters and assembly environment, the dynamic model of space manipulator system is established. Furthermore, the system dynamics is analyzed for the closed chain structure consisting of the manipulator. In order to realize a stable on-orbit assembly under the disturbance caused by the collision, the compliance control strategy of space manipulator and the stability control strategy of spacecraft base is researched. Finally, taking the typical 7-DOF space manipulator as an example, a simulation is carried out, which shows that the proposed impedance control algorithm is effective.
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