Giordano, Alessandro Massimo und Garofalo, Gianluca und De Stefano, Marco und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2016) Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta. In: IEEE Conference on Decision and Control. CDC, 2016-12-12 - 2016-12-14, Las Vegas, USA. doi: 10.1109/CDC.2016.7799432.
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Kurzfassung
Common control methods for free-floating robots assume zero initial linear and angular momenta, for which a reduced joint dynamics equivalent to that of a fixed-base robot can be obtained. On the other hand, a disturbance is induced in the system dynamics when the linear or angular momenta are not zero, leading to a deviation of the end effector. In this work the dynamics of the free-floating robot in presence of momentum is analyzed and a torque feedback control is proposed. An operational space formulation is considered to identify the disturbing Coriolis/centrifugal forces and to cancel them by feedback. A stability proof for the proposed controller is developed using a time-varying approach. The effectiveness of the control is shown in simulation for a seven degrees-of-freedom arm connected to a floating-base under the effect of linear and angular momenta considering model parameters uncertainties.
elib-URL des Eintrags: | https://elib.dlr.de/110013/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Anderer) | ||||||||||||||||||||||||
Titel: | Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta | ||||||||||||||||||||||||
Autoren: |
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Datum: | 12 Dezember 2016 | ||||||||||||||||||||||||
Erschienen in: | IEEE Conference on Decision and Control | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/CDC.2016.7799432 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | space robot, free-floating, nonlinear control | ||||||||||||||||||||||||
Veranstaltungstitel: | CDC | ||||||||||||||||||||||||
Veranstaltungsort: | Las Vegas, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 12 Dezember 2016 | ||||||||||||||||||||||||
Veranstaltungsende: | 14 Dezember 2016 | ||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||
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 - On-Orbit Servicing [SY] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||||||||||
Hinterlegt am: | 23 Dez 2016 10:00 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:15 |
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