Abstract: Aiming at the problem of collision force feedback control in the microgravity environment simulation training robot when astronauts operate in the microgravity environment on the Earth surface, the collision force feedback model is established, the control strategy of single flexible cable driven unit and the collision force feedback control strategy of robot system are proposed. The Matlab/Simulink software is used to simulate the collision force feedback model and control strategy. The model and control strategy can realize the collision force feedback of robot, and has the advantages of small amount of calculation, good real time performance and no additional sensors. In order to improve the accuracy and real time performance of robot control, the compound control strategy of flexible cable driven unit and the collision force feedback control strategy of robot system are combined to carry out the robot collision force feedback control experiment. The results show that the hybrid control strategy based on the disturbance observer improves the active control accuracy by 11%, and the redundant force elimination rate of the passive control reaches 81.82%; and the robot collision force feedback control strategy can effectively improve the impact force telepresence experience of astronauts during operation training.

Key words: Microgravity environment, Astronaut, Feedback model of collision force, Compound control