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• W2291025733 abstract "Replacing of orbital replacement units by a manipulator has important significances in economic and safety aspects on space station. In this paper, the replacement task flow is analyzed in detail, and the manipulator's different working modes in the task are divided. Refer to different working modes, open loop path planning algorithm, vision-based close loop path planning algorithm and impedance control algorithm are researched, and a distributed control architecture is proposed for the task. Based on a manipulator prototype with 6 degrees of freedom, replacement experiments are done and results show that the control method in this paper is reasonable." @default.
• W2291025733 created "2016-06-24" @default.
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• W2291025733 date "2015-12-01" @default.
• W2291025733 modified "2023-09-24" @default.
• W2291025733 title "Control of a manipulator for replacing the orbit replacement unit on the space station" @default.
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• W2291025733 doi "https://doi.org/10.1109/robio.2015.7418991" @default.
• W2291025733 hasPublicationYear "2015" @default.
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