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- W2025564462 abstract "In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective Cartesian impedance control method based on the feedback signal from 6 force sensors is presented, and a brief introduction to the mechanical structure of the 6-UPS docking mechanism and the control structure of the docking system is given. According to the data analysis of ground experiment, this control method can tremendously improve the buffer effect in the docking stage with the parameters optimized in Simulink." @default.
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- W2025564462 date "2014-04-01" @default.
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- W2025564462 title "Applied Research in Cartesian Impedance Control for 6-UPS Space Docking Mechanism" @default.
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- W2025564462 doi "https://doi.org/10.4028/www.scientific.net/amm.540.363" @default.
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