Dynamics, control and impedance matching for robotic capture of a non-cooperative satellite

Yoshida, Kazuya; Nakanishi, Hiroki; Ueno, Hiroshi; Inaba, Noriyasu; Nishimaki, Takeshi; Oda, Mitsushige

doi:10.1163/156855304322758015

Cited by 132 publications

(75 citation statements)

References 2 publications

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“…The advantage of the impedance control is that the inertia (mass) characteristics of the end effector can be suitably designed. For example, if the impedance characteristics of the end-effector are made similar to those of the target, this leads to the so-called mechanical impedance matching [11]. As such, impact can be treated together with uncertainty.…”

Section: Impedance Control In the Operational Spacementioning

confidence: 99%

Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty

Abiko

Lampariello

Hirzinger

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper addresses an impedance control for a free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, considering the grasped target as a disturbance force on the end-effector, the proposed control method is completely independent of the target inertial parameters and the end-effector can follow a given trajectory in the presence of model uncertainty. To verify the effectiveness of the proposed method, a threedimensional realistic numerical simulation is carried out.

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Section: Impedance Control In the Operational Spacementioning

confidence: 99%

Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty

Abiko

Lampariello

Hirzinger

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The position/orientation of end-effectors for precise tasks should not experience any vibration even with small amplitude. Therefore, to achieve high accuracy, we must begin with more precise mathematic models [7][8][9][10][11]. To study the dynamics of a rigid-flexible multibody space system, an inertia frame is used as a universal reference frame.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Object Manipulation by a Space Robot with Flexible Appendages

Zarafshan

Moosavian

2013

ISRN Aerospace Engineering

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Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is considered. This robotic system necessitates delicate force exertion by several end-effectors to move an object along a desired path. During such maneuvers, flexible appendages like solar panels may get stimulated and vibrate. This vibrating motion will cause some oscillatory disturbing forces on the spacecraft, which in turn produces error in the motion of the end-effectors of the cooperative manipulating arms. In addition, vibration control of these flexible members to protect them from fracture is another challenging problem in an object manipulation task for the stated systems. Therefore, the multiple impedance control algorithm is extended to perform an object manipulation task by such complicated rigid-flexible multibody systems. This extension in the control algorithm considers the modification term which compensates the disturbing forces due to vibrating motion of flexible appendages. Finally, a space free-flying robotic system which contains two 2-DOF planar cooperative manipulators, appended with two highly flexible solar panels, is simulated. Obtained results reveal the merits of the developed model-based controller which will be discussed.

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“…The robotic experiments included a variety of tasks such as teleoperation from the ground with a large time-delay, robotic servicing task demonstrations such as ORU (Orbital Replacement Units) exchange, deployment of a space structure, dynamically coordinated control between the manipulator reaction and the satellite attitude, and capture and berthing of a target satellite. To avoid flying away due to a possible failed capture, the robotic capture task was performed while the two satellites were still physically tied using a latching mechanism [8].…”

Section: Introductionmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Dynamics, control and impedance matching for robotic capture of a non-cooperative satellite

Cited by 132 publications

References 2 publications

Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty

Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty

Cooperative Object Manipulation by a Space Robot with Flexible Appendages

A Review of Robotics Technologies for On-Orbit Services

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