A Novel Discrete Domain Force/Displacement Hybrid Compensation Method for Space Manipulator Docking Hardware‐in‐the‐Loop Simulation Accuracy Loss in Complex Contact

Abstract Hardware‐in‐the‐loop (HIL) simulation of manipulator docking is a significant way to simulate docking process of space manipulator. However, robot's response delay makes HIL simulation exist position and force errors, which severely affects stability and accuracy of the simulation. Aiming at the dragging stage of space manipulator docking with complex and unknown single‐mass, multi‐stiffness, and multi‐damping (SM‐MS‐MD) contact, this paper presents a force/displacement hybrid compensation method (F/D HCM) based on online identification of “intermediate” parameters. A Kalman filter was applied to identify the time‐varying intermediate parameters; subsequently, a discrete domain force compensation model was established for compensating contact force deviation. Meanwhile, to address the unknown motion frequency and uncertainty dynamic response delay of the parallel robot, a solution model of docking dynamics frequency based on parameter identification was derived; combined with the linear interpolation method with the frequency domain analysis of parallel robot, an adaptive lead‐lag controller was designed to compensate parallel robot's response delay and to reduce displacement deviation. Finally, experiments were performed on this F/D HCM, which shows that this method can ensure space manipulator HIL‐SS simulate dragging stage with high accuracy, and is of great significance to the success of real docking.