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Hand-eye servo and impedance control for manipulator arm to capture target satellite safely

  • Gan Ma (a1) (a2), Zhihong Jiang (a1) (a2), Hui Li (a1) (a2), Junyao Gao (a1) (a2), Zhangguo Yu (a1) (a2), Xuechao Chen (a1) (a2), Yun-Hui Liu (a1) (a3) and Qiang Huang (a1) (a2) (a4)...

A crucial problem is the risk that a manipulator arm would be damaged by twisting or bending during and after contacting a target satellite. This paper presents a solution to minimize the risk of damage to the arm and thereby enhance contact performance. First, a hand-eye servo controller is proposed as a method for accurately tracking and capturing a target satellite. Next, a motion planning strategy is employed to obtain the best-fit contacting moments. Also, an impedance control law is implemented to increase protection during operation and to ensure more accurate compliance. Finally, to overcome the challenge of verifying algorithms for a space manipulator while on the ground, a novel experimental system with a 6-DOF (degree of freedom) manipulator on a chaser field robot is presented and implemented to capture a target field robot; the proposed methods are then validated using the experimental platform.

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