Compliance Control of a Cable-Driven Space Manipulator Based on Force–Position Hybrid Drive Mode

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...

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Bibliographic Details
Main Authors: Runhui Xiang, Hejie Xu, Xinliang Li, Xiaojun Zhu, Deshan Meng, Wenfu Xu
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Aerospace
Subjects:
cable-driven space manipulator
multi-cable coordinated control
compliance control
Online Access:https://www.mdpi.com/2226-4310/12/1/69
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