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In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective multi-axis force measurement system is built to acquire and analyze the real time force from six separate force sensors. According to the data analysis of the measurement system, a compound contact force is used as the feedback signal to control the movement of the space docking mechanism. Ground experiment shows the good effect of the measurement system, and that the force control algorithm improves the buffer effect at the docking stage.

A Multi-Axis Force Measurement System for a Space Docking Mechanism