The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.

中文翻译：

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空间站机械臂力顺应控制方法的研究与地面验证

空间站操纵器通过轨道上的接触力/扭矩完成许多任务。为了确保空间站和机械手的安全，必须控制机械手的接触力/扭矩。在分析典型任务的工作流程和ORU（轨道替换单元）换乘和双臂协同有效载荷运输等力控制要求的基础上，设计了一种基于手腕六轴力/转矩反馈的阻抗控制方法。为了在工程上实现阻抗控制算法，还研究了离散化方法和阻抗控制参数选择原理。为了验证一致性控制算法，开发了采用工业机械手的地面实验平台。为了消除重力的影响，提出了一种实时重力补偿算法。然后，在实验平台上验证了实时重力补偿和力柔顺控制算法的正确性。最后，完成了ORU替换和双臂协同有效载荷传输实验。实验结果表明，本文提出的力柔量控制方法可以在执行典型任务时控制机器人末端的接触力和转矩。