A compliance control strategy for minimizing base attitude disturbance using variable stiffness joint space manipulator

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.