Modeling and Self-Learning Soft-Grasp Control for Free-Floating Space Manipulator During Target Capturing Using Variable Stiffness Method
During target capturing operation, the changes in the dynamics parameters of a free-floating space manipulator degrade the performance of the base attitude stabilization. This paper presents a new self-learning soft-grasp control algorithm based on the variable stiffness technology. First, the dynam...
Main Authors: | , |
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Format: | Article |
Language: | English |
Published: |
IEEE
2018-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/8242348/ |