Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

Figure 7

Force compliance control experiments results: (a) force in direction; (b) torque around axis; (c) force in Y direction; (d) torque around axis; (e) force in Z direction; (f) torque around axis.

(a)

(b)

(c)

(d)

(e)

(f)