A Compliant Control Method and Its Ground Verification Experiment of A Space Robot

The capture technology of non-cooperative targets by space robots is critical to the future on-orbital services. In this paper, a ground experimental system consisting of force sensor and UR5 robot is established and the gravity compensation of the tool is carried out to simulate the weightless environment in space. The compliant control algorithms proposed in this paper improve the ability of robots to comply with the external force quickly and stably. Besides, this method converts the external force into robotic tool velocities to enhance the stability and release the impact load of the robot during capturing processes. Finally, the method is verified on the ground experimental system and the experimental results show that the proposed method can simulate the weightlessness environment and has a good compliance effect.