Versenden
Drucken
De Stefano, Marco und Artigas, Jordi und Giordano, Alessandro und Lampariello, Roberto und Albu-Schäffer, Alin (2015) On-ground experimental verification of a torque controlled free-floating robot. 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015), 2015-05-11 - 2015-05-13, ESA/ESTEC, Noordwijk, the Netherlands.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
582kB |
Kurzfassung
In this paper, we present a comparison between two torque-based control algorithms for a free-floating robot: the first uses the generalized Jacobian transpose, while the second is based on a complete feedback linearization of the free floating robot dynamics. The analyzed task is to follow a desired trajectory (e.g. provided by a motion planner) and the controllers must satisfy predefined compliance and impedance conditions for the manipulator end effector. The effectiveness of the algorithms and the performance are demonstrated in simulation and through experiments on a hardware-in-the-loop facility.
| elib-URL des Eintrags: | https://elib.dlr.de/96736/ | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
| Titel: | On-ground experimental verification of a torque controlled free-floating robot | ||||||||||||||||||||||||
| Autoren: |
| ||||||||||||||||||||||||
| Datum: | 2015 | ||||||||||||||||||||||||
| Referierte Publikation: | Nein | ||||||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | free-floating robot; torque control; robotics facility; OOS; space debris. | ||||||||||||||||||||||||
| Veranstaltungstitel: | 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015) | ||||||||||||||||||||||||
| Veranstaltungsort: | ESA/ESTEC, Noordwijk, the Netherlands | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 11 Mai 2015 | ||||||||||||||||||||||||
| Veranstaltungsende: | 13 Mai 2015 | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
| Hinterlegt von: | De Stefano, Marco | ||||||||||||||||||||||||
| Hinterlegt am: | 22 Jun 2015 12:02 | ||||||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:02 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags
