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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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Abstract

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
Authors:
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 SCOPUS:No
In ISI Web of Science:Yes
Status:Published
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
Organizer:IEEE
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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