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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.

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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:
AuthorsInstitution or Email of Authors
Abiko, SatokoUNSPECIFIED
Lampariello, RobertoUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 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 (old)
HGF - Program:Space (old)
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:12 Dec 2013 20:21

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