Synthesis methods and experiment validation of compliant force controller based inner position loop

Compliant force control in space docking is studied. Compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate push and pull process of forcible alignment in space docking. Compliant force control structure based on the inner position loop is introduced. The more systematic design methods of a serial PID type controller and a robust controller are presented in detail. Simulation and experiment results indicate efficiency of the designed force controllers and superiority of robust force controller.