Research on the Impact Control Performance of the Space Manipulator under the Noncontact Impedance Control

This paper proposes the noncontact impedance control which can realize the control of the impact which happens between the space manipulator system and the target in capturing operation. And the impact value is influenced by the impedance parameters of the noncontact impedance control. The paper conducts the simulation of the effect of the impedance parameters on impact control performance and concludes the impedance parameters' preliminary coordination principle.