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Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta

Giordano, Alessandro Massimo and Garofalo, Gianluca and De Stefano, Marco and Ott, Christian and 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, 12.-14. Dez. 2016, Las Vegas, USA.

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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.

Item URL in elib:https://elib.dlr.de/110013/
Document Type:Conference or Workshop Item (Other)
Title:Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.deUNSPECIFIED
Garofalo, GianlucaGianluca.Garofalo (at) dlr.deUNSPECIFIED
De Stefano, MarcoMarco.deStefano (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:12 December 2016
Journal or Publication Title:IEEE Conference on Decision and Control
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:space robot, free-floating, nonlinear control
Event Title:CDC
Event Location:Las Vegas, USA
Event Type:international Conference
Event Dates:12.-14. Dez. 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:23 Dec 2016 10:00
Last Modified:31 Jul 2019 20:07

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