https://www.selleckchem.com/pr....oducts/ddr1-in-1.htm
The contact force/torque between the end-effector of the space manipulator and the target spacecraft will reduce the efficiency and safety of the capture task. A capture strategy using PD-impedance combined control algorithm is proposed to achieve compliant contact between the chaser and target spacecraft. In order to absorb the impact energy, a spring-damper system is designed at the end-effector, and the corresponding dynamics model is established by Lagrange's equation. Then a PD-impedance control algorithm based on steady-state fo
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