elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

An Optimized Passivity-based Method for Simulating Satellite Dynamics on a Position Controlled Robot in Presence of Latencies

De Stefano, Marco and Artigas, Jordi and Secchi, Cristian (2016) An Optimized Passivity-based Method for Simulating Satellite Dynamics on a Position Controlled Robot in Presence of Latencies. In: IEEE International Conference on Intelligent Robots and Systems. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 9-14 October 2016, Daejeon, Korea. DOI: 10.1109/IROS.2016.7759797

[img] PDF - Registered users only
1MB

Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759797

Abstract

This paper introduces a performance oriented method for simulating stable free-floating satellite dynamics on a position controlled robot. Intrinsic latencies found in robot controllers, i.e. between input and output data, are known to produce stability issues and performance degradation. These issues are even more apparent during contact phases, where impact dynamics play a major role. The approach presented in this paper guarantees stability through passivity and preserves the performance through the use of an optimal damping. The energy produced by delays found in the closed loop system is monitored and dissipated when necessary. In order to implement the dynamics accurately, the damping process is formulated as an optimization problem. Thus, over-dissipation can be avoided and the system becomes less conservative. Performance and effectiveness of the method are shown in simulation and verified experimentally on a position controlled seven degrees of freedom Light Weight Robot equipped with a force-torque sensor at the end-effector

Item URL in elib:https://elib.dlr.de/109652/
Document Type:Conference or Workshop Item (Speech)
Title:An Optimized Passivity-based Method for Simulating Satellite Dynamics on a Position Controlled Robot in Presence of Latencies
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Artigas, Jordijordi.artigas (at) dlr.deUNSPECIFIED
Secchi, Cristiancristian.secchi (at) unimore.itUNSPECIFIED
Date:October 2016
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/IROS.2016.7759797
Status:Published
Keywords:Stability analysis;Delay effects;Dynamics;Robot sensing systems;Satellites; Hardware in the loop
Event Title:2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Daejeon, Korea
Event Type:international Conference
Event Dates:9-14 October 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:20 Dec 2016 11:07
Last Modified:12 Dec 2017 21:56

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.