Tell a friend
Print
Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty
Abiko, Satoko and Lampariello, Roberto and Hirzinger, Gerhard (2006) Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty. In: Proceedings, pp. 1020-1025. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.
![[img]](http://elib.dlr.de/style/images/fileicons/application_pdf.png)
| PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader 1185Kb |
Abstract
This paper addresses an impedance control for 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 three-dimensional realistic numerical simulation is carried out.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Title: | Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty | ||||||||
| Authors: |
| ||||||||
| Date: | 09 October 2006 | ||||||||
| Journal or Publication Title: | Proceedings | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Page Range: | pp. 1020-1025 | ||||||||
| Publisher: | IEEE/IROS International Conference on Intelligent Robots and Systems | ||||||||
| Status: | Published | ||||||||
| Keywords: | Impedance Control, Free-Floating Robot, Parameter Uncertainty | ||||||||
| Event Title: | RSJ | ||||||||
| Event Location: | Beijing, China | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 2006-10-09 - 2006-10-15 | ||||||||
| Organizer: | IEEE | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Vorhaben On-Orbit Servicing (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||
| Deposited By: | Gabriele Beinhofer | ||||||||
| Deposited On: | 27 Feb 2007 | ||||||||
| Last Modified: | 14 Jan 2010 23:37 |
Repository Staff Only: item control page
