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A Compliance Control Strategy for Minimizing Base Attitude Disturbance Using Variable Stiffness Joint Space Manipulator

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Neural Information Processing (ICONIP 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10639))

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Abstract

The base attitude of a free-floating space robot is disturbed during capturing targets. Based on the variable stiffness technology, this paper presents a compliance control strategy for minimizing the base attitude disturbance. Firstly, the dynamic model of space manipulator system is established by using the Lagrange equation. Secondly, the differential evolution algorithm is utilized to design the control strategy of variable stiffness joint space manipulator. The simulation results reflect that the influence introduced by impact is obviously reduced, which verify the effectiveness of the control strategy.

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Acknowledgment

This work was supported in part by Scientific and Technological Innovation Projects of General Armament Department under grant No. ZYX12010001 and National Key Basic Research Program of China under grant No. 2013CB733000.

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Authors and Affiliations

  1. School of Automation, Beijing University of Posts and Telecommunications, Beijing, China

    Xingyu Wu & Ming Chu

  2. Department of Information Equipment, Academy of Equipment, Beijing, 100876, People’s Republic of China

    Zhenghong Dong

Authors
  1. Xingyu Wu
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  2. Ming Chu
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  3. Zhenghong Dong
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Corresponding author

Correspondence to Xingyu Wu .

Editor information

Editors and Affiliations

  1. Guangdong University of Technology, Guangzhou, China

    Derong Liu

  2. Guangdong University of Technology, Guangzhou, China

    Shengli Xie

  3. South China University of Technology, Guangzhou, China

    Yuanqing Li

  4. Institute of Automation, Chinese Academy of Sciences, Beijing, China

    Dongbin Zhao

  5. King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia

    El-Sayed M. El-Alfy

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Wu, X., Chu, M., Dong, Z. (2017). A Compliance Control Strategy for Minimizing Base Attitude Disturbance Using Variable Stiffness Joint Space Manipulator. In: Liu, D., Xie, S., Li, Y., Zhao, D., El-Alfy, ES. (eds) Neural Information Processing. ICONIP 2017. Lecture Notes in Computer Science(), vol 10639. Springer, Cham. https://doi.org/10.1007/978-3-319-70136-3_20

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  • DOI: https://doi.org/10.1007/978-3-319-70136-3_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70135-6

  • Online ISBN: 978-3-319-70136-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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