@inproceedings{a50e93c85d704af2abd984af47d3362a,
title = "Impedance joint torque control of an active-passive composited driving self-adaptive end effector for space manipulator",
abstract = "An active-passive composited driving self-adaptive end effector is proposed for the space manipulator, that is a two-finger gripper with an active motor and a passive spring. The problems of dynamics and control are challenging because of the strong coupling and their heavy computational burdens for the implementation of model-based control algorithms. To avoid solving differential-algebraic equations, the Virtual Spring Approach (VSA) is presented for formulating the appropriate dynamics model. Next, the impedance joint torque controller is proposed to control the system dynamics of capturing because the finger appears as active mechanical impedance with variable impedance parameters when it makes contact with an unknown object. Finally, the simulation results validate the self-adaptability of the active-passive composited driving end effector, and the proposed control scheme is adequate.",
keywords = "Active-passive composited driving, End effector, Impedance control, Self-adaptive, Space manipulator",
author = "Miao Zhou and Zhongyi Chu",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",
year = "2015",
month = mar,
day = "2",
doi = "10.1109/WCICA.2014.7053691",
language = "英语",
series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "March",
pages = "5694--5699",
booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",
address = "美国",
edition = "March",
}