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《China Mechanical Engineering》 2014-01
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Kinematics and Cartesian Impedance Control for Redundant Space Robotic Arm

Dong Xiaoxing;Li Ge;Liu Gangfeng;Zhao Jie;Harbin Institute of Technology;  
In order to travel outside the space station safely,a 7-DOF SRA needed to be able to automatically control the contact force during connection process.This paper firstly presented the kinematic solution of SRA which used two-phase calculation to deal with inverse kinematics.Then a valid Cartesian impedance control method based on end force-torque sensor was proposed,after parameter optimization by SIMULINK,the tests were implemented on SRA.Experimental results have verified the effectiveness of the proposed method.
【Fund】: 哈尔滨工业大学科研创新基金资助项目(2009023)
【CateGory Index】: TP241.3
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