title: A velocity-based impedance control system for a low impact docking mechanism (LIDM).
abstract: In this paper, an impedance control algorithm based on velocity for capturing two low impact docking mechanisms (LIDMs) is presented. The main idea of this algorithm is to track desired forces when the position errors of two LIDMs are random by designing the relationship between the velocity and contact forces measured by a load sensing ring to achieve low impact docking. In this paper, the governing equation of an impedance controller between the deviation of forces and velocity is derived, and simulations are designed to verify how impedance parameters affect the control characteristics. The performance of the presented control algorithm is validated by using the MATLAB and ADAMS software for capturing simulations. The results of capturing simulations demonstrate that the impedance control algorithm can respond fast and has excellent robustness when the environmental errors are random, and the contact forces and torques satisfy the low impact requirements.
authors.affiliation: State Key Laboratory of Mechanics and Control Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. chenchuanzhi_987@163.com.
authors.forename: Chuanzhi
authors.initials: C
authors.lastname: Chen
authors.affiliation: State Key Laboratory of Mechanics and Control Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. hnie@nuaa.edu.cn.
authors.forename: Hong
authors.initials: H
authors.lastname: Nie
authors.affiliation: State Key Laboratory of Mechanics and Control Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. wangxtao1977@nuaa.edu.cn.
authors.forename: Jinbao
authors.initials: J
authors.lastname: Chen
authors.affiliation: College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. wangxtao1977@nuaa.edu.cn.
authors.forename: Xiaotao
authors.initials: X
authors.lastname: Wang