Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty

Abiko, Satoko; Hirzinger, Gerd

doi:10.1109/iros.2009.5354601

Cited by 23 publications

(11 citation statements)

References 13 publications

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“…In order to eliminate the friction effects and reduce the motor inertia, the Cartesian impedance control is designed by using a cascaded structure [7] consisting of a torque controller as inner control loop and a Cartesian impedance controller as outer control loop in Figure 2. In this control structure the Cartesian impedance controller computes the desired link torque for the torque controller.…”

Section: Proposed Cartesian Impedance Controlmentioning

confidence: 99%

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Passivity Based on Energy Tank for Cartesian Impedance Control of DLR Space Robots With Floating Base and Elastic Joints

2018

JCC

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Abstract. This paper presents a control structure for orbital servicing mission of CEASAR robotic arm developed by German Aerospace Center (DLR). In order to reduce mass the CEASAR arm is equipped with Harmonic-Drives with high ratio which unfortunately lead to high joint elasticity and high motor friction and have to be considered in controller design for successful manipulator in-orbit operations. Therefore, in this control structure, for high tracking control a cascaded position controller based on state feedback control structure with observer-based friction compensation and for safe interaction control with the environment a Cartesian impedance controller is used, which is designed based on using energy tank method to ensure passivity of the controlled system. The proposed control methods are very efficient and practicable. Furthermore, they are very robust with dynamic parameter uncertainties, coupling dynamics, and can simultaneously provide good results in term of the position accuracy and dynamic behavior. Simulation results validate practical effciency of the controllers.

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Section: Proposed Cartesian Impedance Controlmentioning

confidence: 99%

“…The control of free-flying robots for space applications was introduced in [5,6]. Furthermore, in order to consider uncertainties of the robot parameters or varying parameters, an adaptive control scheme was introduced in [7].…”

Section: Introductionmentioning

confidence: 99%

Passivity Based on Energy Tank for Cartesian Impedance Control of DLR Space Robots With Floating Base and Elastic Joints

2018

JCC

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“…Take the general dynamic model for reference [11], and the dynamic equation of space manipulator considering the joint friction can be established as follows:…”

Section: Dynamic Modelmentioning

confidence: 99%

Low Speed Motion Optimization of Space Manipulator Based on Gradient Projection Method

Peng

Jia

Chen

et al. 2015

MATEC Web of Conferences

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Abstract. Low-speed crawling phenomenon may occur when space manipulators run at a low speed, which may bring big problem for manipulation work. A kind of low-speed optimization algorithm based on gradient projection method is pro-posed in this paper. The designing of continuous balanced proportional factor can effectively reduce the quantitative differences between the homogeneous solution and the special solution, avoiding the joint velocities oscillations. The low-speed crawling problem can be effectively improved by appropriate increase of joint velocities. And the effectiveness and correctness of the optimization algorithm are confirmed by the simulation.

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“…These Holonomic constraint are usually given in algebraic form relating the generalized variables (28). Now differentiating the holonomic constraint at the velocity level as in (30)(31)(32) leads to…”

Section: Common Solution Of the Constraintsmentioning

confidence: 99%

“…The control method of flexible space during capturing target was discussed. Work [31] proposes an adaptive controller for a fully free-floating space robot with kinematic and dynamic model uncertainty. In adaptive control design for the space robot, because of high dynamical coupling between an actively operated arm and a passively moving end-point, two inherent difficulties exist, such as non-linear parameterization of the dynamic equation and both kinematic and dynamic parameter uncertainties in the coordinate mapping from Cartesian space to joint space.…”

Section: Introductionmentioning

confidence: 99%

Unified Modeling Approach of Kinematics, Dynamics and Control of a Free-Flying Space Robot Interacting with a Target Satellite

Shibli

2011

ICA

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In this paper a unified control-oriented modeling approach is proposed to deal with the kinematics, linear and angular momentum, contact constraints and dynamics of a free-flying space robot interacting with a target satellite. This developed approach combines the dynamics of both systems in one structure along with holonomic and nonholonomic constraints in a single framework. Furthermore, this modeling allows considering the generalized contact forces between the space robot end-effecter and the target satellite as internal forces rather than external forces. As a result of this approach, linear and angular momentum will form holonomic and nonholonomic constraints, respectively. Meanwhile, restricting the motion of the space robot end-effector on the surface of the target satellite will impose geometric constraints. The proposed momentum of the combined system under consideration is a generalization of the momentum model of a free-flying space robot. Based on this unified model, three reduced models are developed. The first reduced dynamics can be considered as a generalization of a free-flying robot without contact with a target satellite. In this reduced model it is found that the Jacobian and inertia matrices can be considered as an extension of those of a free-flying space robot. Since control of the base attitude rather than its translation is preferred in certain cases, a second reduced model is obtained by eliminating the base linear motion dynamics. For the purpose of the controller development, a third reduced-order dynamical model is then obtained by finding a common solution of all constraints using the concept of orthogonal projection matrices. The objective of this approach is to design a controller to track motion trajectory while regulating the force interaction between the space robot and the target satellite. Many space missions can benefit from such a modeling system, for example, autonomous docking of satellites, rescuing satellites, and satellite servicing, where it is vital to limit the contact force during the robotic operation. Moreover, Inverse dynamics and adaptive inverse dynamics controllers are designed to achieve the control objectives. Both controllers are found to be effective to meet the specifications and to overcome the un-actuation of the target satellite. Finally, simulation is demonstrated by to verify the analytical results.

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Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty

Cited by 23 publications

References 13 publications

Passivity Based on Energy Tank for Cartesian Impedance Control of DLR Space Robots With Floating Base and Elastic Joints

Passivity Based on Energy Tank for Cartesian Impedance Control of DLR Space Robots With Floating Base and Elastic Joints

Low Speed Motion Optimization of Space Manipulator Based on Gradient Projection Method

Unified Modeling Approach of Kinematics, Dynamics and Control of a Free-Flying Space Robot Interacting with a Target Satellite

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