JRM Vol.6 No.4 pp. 318-321
doi: 10.20965/jrm.1994.p0318


Distribution of Natural Compliance in Force Control of Space Manipulator

Yoshiaki Ohkami* and Osamu Okamoto**

*Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, To' vo, 152 Japan

**National Aerospace Laboratory, 7-44-1 Jindaiji-Higashi, Chofu, Tokyo, 182 Japan

June 7, 1994
June 17, 1994
August 20, 1994
Space manipulator, Force control, Compliance

This paper presents results of investigation on the force control of space manipulator when it constitutes a geometrical loop. It is shown that without natural compliance, the system becomes indeterminate when the tip touches the object on the common base. A simple force feedback control could be applied, but the control is demonstrated to be incapable of changing the situation for rigid and kinematically controlled arms. Based on the evaluation of the extended inertia matrix, it is shown that the natural compliance should be assigned to all directions of the contact (6 DOF) and that the force control must be compatible to this condition that the total system is determinate over the entire range of operation.

Cite this article as:
Yoshiaki Ohkami and Osamu Okamoto, “Distribution of Natural Compliance in Force Control of Space Manipulator,” J. Robot. Mechatron., Vol.6, No.4, pp. 318-321, 1994.
Data files:

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Feb. 25, 2021