Compliant force control based on inner position loop

Compliant force control strategy is presented based on the inner loop position control of 6-dof parallel robot in order to simulate pushing and pulling procedure of forcible alignment of space docking. Considering uncertainties such as parameter perturbation, model perturbation and external disturb etc., robust force controller is designed using μ synthesis theory. Robust stability and robust performance are compared between robust force controller and classical force controllers by μ analysis. Experiment results of robust force controller and classical force controllers show that the designed robust force controller is of efficiency and superiority.