TY - GEN
T1 - Workspace Fixation for Free-Floating Space Robot Operations
AU - Giordano, Alessandro M.
AU - Calzolari, Davide
AU - Albu-Schaffer, Alin
N1 - Publisher Copyright:
© 2018 IEEE.
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.
UR - http://www.scopus.com/inward/record.url?scp=85062704061&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460478
DO - 10.1109/ICRA.2018.8460478
M3 - Conference contribution
AN - SCOPUS:85062704061
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 889
EP - 896
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 -