TY - GEN
T1 - Momentum dumping for space robots
AU - Giordano, Alessandro M.
AU - Garofalo, Gianluca
AU - Albu-Schaffer, Alin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - During the robotic capture of a target object on orbit, accidental contacts may happen. During contacts, momentum is transferred to the system, causing a drift of the space robot in the inertial space. When no remediation is taken, the arm might converge to singularity or workspace limit within seconds, compromising the capture operation. This article presents a method to control the end-effector while simultaneously extracting any accumulated momentum in the system to cancel the drift. A feature of the method is that external actuators are only used for the momentum extraction and not to counterbalance the manipulator control forces. The control is validated with experiments using a Hardware-In-the-Loop (HIL) robotic simulator composed of a 7DOF (Degrees Of Freedom) arm mounted on a 6DOF moving base.
AB - During the robotic capture of a target object on orbit, accidental contacts may happen. During contacts, momentum is transferred to the system, causing a drift of the space robot in the inertial space. When no remediation is taken, the arm might converge to singularity or workspace limit within seconds, compromising the capture operation. This article presents a method to control the end-effector while simultaneously extracting any accumulated momentum in the system to cancel the drift. A feature of the method is that external actuators are only used for the momentum extraction and not to counterbalance the manipulator control forces. The control is validated with experiments using a Hardware-In-the-Loop (HIL) robotic simulator composed of a 7DOF (Degrees Of Freedom) arm mounted on a 6DOF moving base.
UR - https://www.scopus.com/pages/publications/85046129742
U2 - 10.1109/CDC.2017.8264434
DO - 10.1109/CDC.2017.8264434
M3 - Conference contribution
AN - SCOPUS:85046129742
T3 - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
SP - 5243
EP - 5248
BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017
Y2 - 12 December 2017 through 15 December 2017
ER -