Adaptive Impedance-controlled Manipulator Based on Collision Detection

This article provides a flexible-joint-manipulator, which incorporates with three means to make its mechanical arm come into compliant contact with the objects with a force kept within an acceptable range. At first, the Cartesian impedance control law is introduced on the basis of virtual decomposition to realize the compliance control. Then, adaptive dynamic joint compensators on all joints are used to achieve more precise control. Finally, a Cartesian force-feedback path generation is developed for collision detection and force control. Experiments are performed on a 4-degree of freedom (DOF) satellite on-orbit self-servicing (SOOSS) manipulator. The results of the trajectory tracking and collision experiments demonstrate the effectiveness and feasibility of the proposed method.