Designing of a kind of Impedance Controller for Industrial Robots to Assemble Satellites

Traditional satellite assembly process mainly relies on manpower, so that there is an urgent need to introduce the robot system which is able to assist workers to assembling satellites. The system draws on the application of technology and process specifications of industrial robots and other manipulators in the relevant industries. In this paper, the impedance controller is used to control the movement of the robot in response to human's traction. The influence of the impedance parameters on the operation process is analyzed by simulation. Results of the experiment shows that the robot has good compliance to the external force and is able to assist people in accomplishing the satellite assembly.