Adaptive hybrid force/position control for the Space Station Alpha robotic operations

摘要

Summary The Space Station Alpha is the most significant international space project of this century and the largest international technology development project ever undertaken. The space robot manipulators will be a substantial part of the space station and will perform tasks such as assembly as well as maintenance of the station. Therefore the robot manipulators need a very sophisticated real-time control capability for gross and fine motions (i.e. compliant motions) during various operations. Moreover, the proposed dual-arm robot system servicing the Space Station requires automated motion coordination, synchronization of the arms, and controlled mechanical interaction with fixed and moving objects involved in various tasks.