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

Abiko, Satoko; Lampariello, Roberto; Hirzinger, Gerd

doi:10.1109/iros.2006.281785

Cited by 62 publications

(27 citation statements)

References 13 publications

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“…However, by considering the system switched around, modeled from the end-effector to the base, it can be represented by the motion of the end effector and that of the joints in the same structure as in the conventional expression. This scheme is termed the inverted chain approach in [4].…”

Section: Modeling and Equations Of Motionmentioning

confidence: 99%

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An Adaptive Control for a Free-Floating Space Robot by Using Inverted Chain Approach

Abiko¹,

Hirzinger²

2009

Frontiers in Adaptive Control

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Abstract-This paper addresses an adaptive control for freefloating space robots in the presence of model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, by using the new formulation, we propose an adaptive control for a free-floating space robot to compensate the model uncertainty. For performance improvement, a composite adaptive control by combination of the trajectory error and the reaction force is further discussed. To verify the effectiveness of the proposed methods, a three-dimensional realistic numerical simulation is carried out.

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Section: Modeling and Equations Of Motionmentioning

confidence: 99%

“…This approach was introduced in [4] and was termed the inverted chain approach. The inverted chain approach has a computational advantage compared with the conventional dynamic model for operational space and explicitly explains coupled dynamics between the end-effector and the robot arm.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Control for a Free-Floating Space Robot by Using Inverted Chain Approach

Abiko¹,

Hirzinger²

2009

Frontiers in Adaptive Control

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“…DEOS investigates technologies to autonomously and manually perform rendezvous and proximity operations, as well as to capture a tumbling and uncooperative target satellite with a manipulator based on DLR's 7‐DoF Lightweight Robot III (LWR‐III). The implemented torque‐controlled joints have previously been space qualified during the Rokviss mission and allow the execution of a soft and reflexive grapple maneuver while anticipating the movement of the coupled satellite platform (Abiko, Lampariello, & Hirzinger, 2006). OLEV's purpose is to approach and dock with a depleted geostationary satellite utilizing a special capture tool for apogee motor insertion.…”

Section: Introductionmentioning

confidence: 99%

SPHERES interact—Human–machine interaction aboard the International Space Station

Stoll

Jaekel

Katz

et al. 2012

Journal of Field Robotics

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The deployment of space robots for servicing and maintenance operations that are teleoperated from the ground is a valuable addition to existing autonomous systems, because it will provide flexibility and robustness in mission operations. In this connection, not only robotic manipulators are of great use, but also free‐flying inspector satellites supporting the operations through additional feedback to the ground operator. The manual control of such an inspector satellite at a remote location is challenging, because navigation in three‐dimensional space is unfamiliar and large time delays can occur in the communication channel. This paper shows a series of robotic experiments, in which free flyers are controlled by astronauts aboard the International Space Station (ISS). The Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) were utilized to study several aspects of a remotely controlled inspector satellite. The focus in this case study is investigating different approaches to human–spacecraft interaction with varying levels of autonomy under zero‐gravity conditions. © 2012 Wiley Periodicals, Inc.

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“…However, there was no control on the force and moment built up at the connection of the chaser manipulator and the target. Impedance control scheme for a free-floating space robot in grasping of a tumbling target with model uncertainty is presented in [15], however optimal path planning is not addressed in this work.…”

Section: Introductionmentioning

confidence: 99%

Coordination control of a free-flying manipulator and its base attitude to capture and detumble a noncooperative satellite

Aghili

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper focuses on the guidance of a robot manipulator to capture a tumbling satellite and then bring it to state of rest (detumbling). First, a coordination control for combined system of the space robot and the target satellite, which acts as the manipulator payload, is presented so that the robot tracks the optimal path while regulating the attitude of the chase vehicle to a desired value. Subsequently, two optimal trajectories for the pre-and post-capture phases are designed. In the pre-capturing phase, the manipulator maneuvers are optimized by minimizing a cost function which includes the time of travel and the weighted norms of the end-effector velocity and acceleration, subject to the constraint that the robot end-effector and a grapple fixture on the satellite arrive at the rendezvous point with the same velocity. In the postgrasping phase, the manipulator dumps the initial velocity of the tumbling satellite in minimum time subject to the constraint that the magnitude of the torque applied to the satellite remains below a safe value. Simulation and experimental results are appended.

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

Cited by 62 publications

References 13 publications

An Adaptive Control for a Free-Floating Space Robot by Using Inverted Chain Approach

An Adaptive Control for a Free-Floating Space Robot by Using Inverted Chain Approach

SPHERES interact—Human–machine interaction aboard the International Space Station

Coordination control of a free-flying manipulator and its base attitude to capture and detumble a noncooperative satellite

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