A Passivity-Based Velocity Control Method of Hardware-in-the-Loop Simulation for Space Robotic Operations

He, Jun; Shen, Mingjin; Gao, Feng

doi:10.3390/aerospace9070368

Cited by 2 publications

(3 citation statements)

References 27 publications

(42 reference statements)

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“…Here, the Sage-Husa AKF is adopted for estimations of the contact stiffness and damping, which can be written as where X(t) = [k d (t), c d (t)] T is the state vector; Z(t) = ΔF s (t) is the measurement vector; W(t − 1) is the measurement noise at time t −1; V(t) is observation noise; A(t) is the state-transition matrix from t − 1 to t; G(t) is the system noise matrix; and H(t)=[Δp(t), Δv(t)] T is the observation (22) �p(t) = (r P (t) − r P (t − 1)) • e, (23)…”

Section: Parameter Identificationmentioning

confidence: 99%

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Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

Shen

Gao

et al. 2022

Chin. J. Mech. Eng.

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An industrial robot with a six-axis force/torque sensor is usually used to produce a zero-gravity environment for testing space robotic operations. However, using traditional force control methods, such as admittance control, causes position-controlled industrial robots to undergo from force divergence owing to intrinsic time delay. In this paper, a new force control method is proposed to eliminate the force divergence. A hardware-in-the-loop (HIL) simulator with an industrial robot is first presented. The free-floating satellite dynamics and the motion mapping from the satellites to simulator are both established. Thus, the effects of measurement delay and dynamic response delay on contact velocity and force are investigated. After that, a real-time estimation method for contact stiffness and damping is proposed based on the adaptive Kalman filter. The measurement delay is compensated by a phase lead model. Moreover, the identified contact parameters are adopted to modify contact forces, and thus the dynamics response delay can be compensated for. Finally, a co-simulation and experiments were conducted to verify the force control method. The results show that contact stiffness and damping could be identified exactly and that the simulation divergence could be prevented. This paper proposes an active compliance control method that can deal with force constrained tasks of a position-controlled robot in unknown environments.

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Section: Parameter Identificationmentioning

confidence: 99%

“…Considering that the passivity of the whole system is a sufficient condition for stable dynamic behaviors, the passivity-based control strategy for the response delay was proposed to obtain a stable dynamic simulation [21]. However, the reproducibility of contact force has not been discussed [22].…”

Section: Introductionmentioning

confidence: 99%

Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

Shen

Gao

et al. 2022

Chin. J. Mech. Eng.

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“…In this study, a HIL docking simulator was used to describe the motion and dynamics of the system. In the field of electrical drive control, HIL simulation has been used to improve convenience and flexibility in an application involving space robots [15,16], as well as for implementing tasks such as repair, upgrade, transportation, and recuse [14,15]. Visteon Corp. applied HIL simulation to improve quality and reduce the cost of its testing systems [17].…”

Section: Introductionmentioning

confidence: 99%

Development of a Hardware-in-the-Loop Platform for a Teleoperation Flexibility Robotic System

Tran,

Nguyen,

Tran

et al. 2024

Applied Sciences

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A control method for a cable-driven robot in a teleoperation system is proposed using the hardware-in-the-loop (HIL) simulation technique. The main components of the teleoperated robotic system are a haptic device, also called a delta robot, and a cable-driven hyper-redundant (CDHR) robot. The CDHR manipulator has higher flexibility and multiple degrees of freedom (DOF), and, therefore, its inverse kinematics are complex. For this reason, the Jacobian method is used in place of the conventional method to calculate the inverse kinematics. Moreover, the two robots constituting the telerobotic system are different in terms of their mechanical structures and workspaces. Therefore, the position mapping method is applied to ensure that the two workspaces are utilized together. However, a singularity area appears when the mapping parameter is adjusted to expand the workspace. Therefore, a haptic algorithm is proposed to prevent the robot from moving into the singularity region and generate force feedback at the end-effector of the haptic device to warn the operator. Because experimental verification of this control strategy is difficult, the HIL technique is used for demonstration in this study to ensure stability and safety before implementation of the method at the experiment scale. The CDHR robot is designed using SolidWorks 2021. Then, the Simscape model is used to simulate the telerobotic system. In addition, the protocol between the haptic device and the laptop is programmed using C/C++ language to facilitate communication with the CDHR robot in MATLAB Simulink 2022a. A few trials are conducted to evaluate and demonstrate the effectiveness of the proposed method.

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A Passivity-Based Velocity Control Method of Hardware-in-the-Loop Simulation for Space Robotic Operations

Cited by 2 publications

References 27 publications

Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

Development of a Hardware-in-the-Loop Platform for a Teleoperation Flexibility Robotic System

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