Workspace Fixation for Free-Floating Space Robot Operations

Alessandro M. Giordano; Davide Calzolari; Alin Albu-Schaffer

doi:10.1109/ICRA.2018.8460478

Workspace Fixation for Free-Floating Space Robot Operations

Alessandro M. Giordano, Davide Calzolari, Alin Albu-Schaffer

Informatics 23 - Chair of Sensor-based Robotic Systems and Intelligent Assistance Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

When a space robot accidentally or voluntarily comes in contact with a target object, a workspace shift happens due to exchange of momentum between the objects. The problem of workspace adjustment is addressed herein. A novel controller is derived to simultaneously adjust the workspace and control the end-effector pose. The controller is based on a center-of-mass (CoM) regulation which fixes the workspace in the inertial space while leaving the base free to move, resulting in fuel efficiency. The control is validated on hardware using a robotic simulator composed of a seven degree-of-freedom (DOF) arm mounted on a 6DOF moving base.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	889-896
Number of pages	8
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460478
State	Published - 10 Sep 2018
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: 21 May 2018 → 25 May 2018

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18

Access to Document

10.1109/ICRA.2018.8460478

Cite this

Giordano, A. M., Calzolari, D., & Albu-Schaffer, A. (2018). Workspace Fixation for Free-Floating Space Robot Operations. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 889-896). Article 8460478 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460478

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title = "Workspace Fixation for Free-Floating Space Robot Operations",

abstract = "When a space robot accidentally or voluntarily comes in contact with a target object, a workspace shift happens due to exchange of momentum between the objects. The problem of workspace adjustment is addressed herein. A novel controller is derived to simultaneously adjust the workspace and control the end-effector pose. The controller is based on a center-of-mass (CoM) regulation which fixes the workspace in the inertial space while leaving the base free to move, resulting in fuel efficiency. The control is validated on hardware using a robotic simulator composed of a seven degree-of-freedom (DOF) arm mounted on a 6DOF moving base.",

author = "Giordano, {Alessandro M.} and Davide Calzolari and Alin Albu-Schaffer",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",

year = "2018",

month = sep,

day = "10",

doi = "10.1109/ICRA.2018.8460478",

language = "English",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Giordano, AM, Calzolari, D & Albu-Schaffer, A 2018, Workspace Fixation for Free-Floating Space Robot Operations. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460478, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 889-896, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460478

Workspace Fixation for Free-Floating Space Robot Operations. / Giordano, Alessandro M.; Calzolari, Davide; Albu-Schaffer, Alin.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 889-896 8460478 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Calzolari, Davide

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PY - 2018/9/10

Y1 - 2018/9/10

N2 - When a space robot accidentally or voluntarily comes in contact with a target object, a workspace shift happens due to exchange of momentum between the objects. The problem of workspace adjustment is addressed herein. A novel controller is derived to simultaneously adjust the workspace and control the end-effector pose. The controller is based on a center-of-mass (CoM) regulation which fixes the workspace in the inertial space while leaving the base free to move, resulting in fuel efficiency. The control is validated on hardware using a robotic simulator composed of a seven degree-of-freedom (DOF) arm mounted on a 6DOF moving base.

AB - When a space robot accidentally or voluntarily comes in contact with a target object, a workspace shift happens due to exchange of momentum between the objects. The problem of workspace adjustment is addressed herein. A novel controller is derived to simultaneously adjust the workspace and control the end-effector pose. The controller is based on a center-of-mass (CoM) regulation which fixes the workspace in the inertial space while leaving the base free to move, resulting in fuel efficiency. The control is validated on hardware using a robotic simulator composed of a seven degree-of-freedom (DOF) arm mounted on a 6DOF moving base.

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M3 - Conference contribution

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T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

Y2 - 21 May 2018 through 25 May 2018

ER -

Workspace Fixation for Free-Floating Space Robot Operations

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