Abstract: In order to meet the requirement of inserting the oil gun into the incendiary agent and oxidant injection port at the same time during the orbital filling process of the space manipulator，a compliance control method of manipulator is proposed. The proposed method can meet the requirement that two relatively independent structural parts on the same part contact the shaft hole at the same time in the process of plug in control. First, the insertion and extraction process and contact state of the biaxial hole are analyzed; then, a compliance controller based on impedance control is designed, which realizes the smooth and autonomous cooperation of the plugging process under the action of contact force feedback; finally, the application effect of the compliance control method is verified by simulation experiments.The compliance control method proposed in this paper has practical value and application prospect under the requirements of specific space operation environment. This method provides a certain theoretical and application basis for the remote operation of space on orbit service robotic arms and the development of intelligent operation technology.

Key words: compliance control, in orbit refill, space manipulator, impedance control