@inproceedings{8082e32a289e4d069a8508778db8abde,
title = "Synthesis methods and experiment validation of compliant force controller based inner position loop",
abstract = "Compliant force control in space docking is studied. Compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate push and pull process of forcible alignment in space docking. Compliant force control structure based on the inner position loop is introduced. The more systematic design methods of a serial PID type controller and a robust controller are presented in detail. Simulation and experiment results indicate efficiency of the designed force controllers and superiority of robust force controller.",
keywords = "Compliant, Force control, PID, Robust",
author = "Shangying Zhang and Hui Zhao and Junwei Han",
year = "2007",
doi = "10.1109/ROBIO.2007.4522253",
language = "英语",
isbn = "9781424417582",
series = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",
publisher = "IEEE Computer Society",
pages = "728--733",
booktitle = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",
note = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO ; Conference date: 15-12-2007 Through 18-12-2007",
}