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Momentum Dumping for Space Robots

Giordano, Alessandro Massimo and Garofalo, Gianluca and Albu-Schäffer, Alin Olimpiu (2017) Momentum Dumping for Space Robots. In: IEEE Conference on Decision and Control. 56th, 12-15 Dec 2017, 2017 IEEE 56th Conference on Decision and Control (CDC).

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Abstract

During the robotic capture of a target object on orbit, accidental contacts may happen. During contacts, momentum is transferred to the system, causing a drift of the space robot in the inertial space. When no remediation is taken, the arm might converge to singularity or workspace limit within seconds, compromising the capture operation. This article presents a method to control the end-effector while simultaneously extracting any accumulated momentum in the system to cancel the drift. A feature of the method is that external actuators are only used for the momentum extraction and not to counterbalance the manipulator control forces. The control is validated with experiments using a Hardware-In-the- Loop (HIL) robotic simulator composed of a 7DOF (Degrees Of Freedom) arm mounted on a 6DOF moving base.

Item URL in elib:https://elib.dlr.de/117905/
Document Type:Conference or Workshop Item (Speech)
Title:Momentum Dumping for Space Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Garofalo, Gianlucagianluca.garofalo (at) dlr.dehttps://orcid.org/0000-0002-7481-3464
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:March 2017
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:robotics, space-robot, control, momentum
Event Title:56th
Event Location:2017 IEEE 56th Conference on Decision and Control (CDC)
Event Type:international Conference
Event Dates:12-15 Dec 2017
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):On-Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Giordano, Alessandro Massimo
Deposited On:07 Jan 2018 22:34
Last Modified:31 Jul 2019 20:15

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