Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive Mode
Multi-cable cooperative control is essential for cable-driven space manipulators to achieve in-orbit services such as fault spacecraft maintenance, fuel injection, on-orbit assembly, and orbital garbage removal. To prevent the cables from becoming slack or excessively tight, the force in each cable...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
|
| Series: | Aerospace |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2226-4310/12/1/69 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832589455059320832 |
|---|---|
| author | Runhui Xiang Hejie Xu Xinliang Li Xiaojun Zhu Deshan Meng Wenfu Xu |
| author_facet | Runhui Xiang Hejie Xu Xinliang Li Xiaojun Zhu Deshan Meng Wenfu Xu |
| author_sort | Runhui Xiang |
| collection | DOAJ |
| description | Multi-cable cooperative control is essential for cable-driven space manipulators to achieve in-orbit services such as fault spacecraft maintenance, fuel injection, on-orbit assembly, and orbital garbage removal. To prevent the cables from becoming slack or excessively tight, the force in each cable must be distributed appropriately. The force distribution among different cables requires real-time adjustments; otherwise, the system may become unstable. This paper proposes a compliance control method based on the force–position hybrid drive mode to address the challenges of multi-cable cooperative control. Firstly, the mapping relationship between the cable space and the joint space of the cable-driven space manipulator is established. Then, the force mapping relationship for this structure is derived. The control scheme categorizes the cables into two types: active-side cables and antagonistic-side cables. Position control and force control are implemented separately, significantly reducing the computational requirements and enhancing the overall performance of the control system. Finally, the feasibility of the proposed algorithm is demonstrated through simulations and compared with the PID control method. When tracking the same trajectory, the proposed method reduces the tracking error by 49.14% and the maximum force by 58.58% compared to the PID control method, effectively addressing the problem of force distribution in multi-rope coordinated control. |
| format | Article |
| id | doaj-art-1bc268b483244321acc0d348f79391f7 |
| institution | Kabale University |
| issn | 2226-4310 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj-art-1bc268b483244321acc0d348f79391f72025-01-24T13:15:43ZengMDPI AGAerospace2226-43102025-01-011216910.3390/aerospace12010069Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive ModeRunhui Xiang0Hejie Xu1Xinliang Li2Xiaojun Zhu3Deshan Meng4Wenfu Xu5School of Aeronautics and Astronautics, Shenzhen Campus, Sun Yat-sen University, Shenzhen 518107, ChinaSchool of Aeronautics and Astronautics, Shenzhen Campus, Sun Yat-sen University, Shenzhen 518107, ChinaSchool of Aeronautics and Astronautics, Shenzhen Campus, Sun Yat-sen University, Shenzhen 518107, ChinaJianghuai Advance Technology Center, Hefei 230000, ChinaSchool of Aeronautics and Astronautics, Shenzhen Campus, Sun Yat-sen University, Shenzhen 518107, ChinaState Key Laboratory of Robotics and Systems (HIT), Harbin 150000, ChinaMulti-cable cooperative control is essential for cable-driven space manipulators to achieve in-orbit services such as fault spacecraft maintenance, fuel injection, on-orbit assembly, and orbital garbage removal. To prevent the cables from becoming slack or excessively tight, the force in each cable must be distributed appropriately. The force distribution among different cables requires real-time adjustments; otherwise, the system may become unstable. This paper proposes a compliance control method based on the force–position hybrid drive mode to address the challenges of multi-cable cooperative control. Firstly, the mapping relationship between the cable space and the joint space of the cable-driven space manipulator is established. Then, the force mapping relationship for this structure is derived. The control scheme categorizes the cables into two types: active-side cables and antagonistic-side cables. Position control and force control are implemented separately, significantly reducing the computational requirements and enhancing the overall performance of the control system. Finally, the feasibility of the proposed algorithm is demonstrated through simulations and compared with the PID control method. When tracking the same trajectory, the proposed method reduces the tracking error by 49.14% and the maximum force by 58.58% compared to the PID control method, effectively addressing the problem of force distribution in multi-rope coordinated control.https://www.mdpi.com/2226-4310/12/1/69cable-driven space manipulatormulti-cable coordinated controlcompliance control |
| spellingShingle | Runhui Xiang Hejie Xu Xinliang Li Xiaojun Zhu Deshan Meng Wenfu Xu Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive Mode Aerospace cable-driven space manipulator multi-cable coordinated control compliance control |
| title | Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive Mode |
| title_full | Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive Mode |
| title_fullStr | Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive Mode |
| title_full_unstemmed | Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive Mode |
| title_short | Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive Mode |
| title_sort | compliance control of a cable driven space manipulator based on force position hybrid drive mode |
| topic | cable-driven space manipulator multi-cable coordinated control compliance control |
| url | https://www.mdpi.com/2226-4310/12/1/69 |
| work_keys_str_mv | AT runhuixiang compliancecontrolofacabledrivenspacemanipulatorbasedonforcepositionhybriddrivemode AT hejiexu compliancecontrolofacabledrivenspacemanipulatorbasedonforcepositionhybriddrivemode AT xinliangli compliancecontrolofacabledrivenspacemanipulatorbasedonforcepositionhybriddrivemode AT xiaojunzhu compliancecontrolofacabledrivenspacemanipulatorbasedonforcepositionhybriddrivemode AT deshanmeng compliancecontrolofacabledrivenspacemanipulatorbasedonforcepositionhybriddrivemode AT wenfuxu compliancecontrolofacabledrivenspacemanipulatorbasedonforcepositionhybriddrivemode |