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...

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Bibliographic Details
Main Authors: Ming Chu, Xingyu Wu
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/8242348/