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Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot

Lampariello, Roberto and Mishra, Hrishik and Oumer, Nassir W. and Schmidt, Phillip and De Stefano, Marco and Albu-Schäffer, Alin (2018) Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot. IEEE Robotics and Automation Letters, 3 (4), pp. 3638-3645. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2855799. ISSN 2377-3766.

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In this letter, a novel method is presented for grasping a partially cooperative tumbling satellite with a free-floating robot. A reference trajectory, provided by an offline motion planner and adapted online to account for modeling uncertainties, is tracked with a visual servo for the approach phase and with a joint-space controller for the rigidization phase, which follows the grasp. An extended Kalman filter is implemented for providing robustness, predictions during measurement unavailability and a velocity estimate of the tumbling satellite as a feed-forward for control, throughout the grasping task. The visual servo is in cas cade with an impedance controller to achieve tracking while being compliant. The method is successfully validated on the OOS-SIM facility, which is used for simulating gravity-free multibody dy- namics with a novel momentum-based control method.

Item URL in elib:https://elib.dlr.de/124093/
Document Type:Article
Title:Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lampariello, RobertoRoberto.Lampariello (at) dlr.dehttps://orcid.org/0000-0002-8479-2900
Mishra, Hrishikhrishik.mishra (at) dlr.dehttps://orcid.org/0000-0002-5025-2447
Oumer, Nassir W.nassir.oumer (at) dlr.deUNSPECIFIED
Schmidt, Phillipphillip.schmidt (at) dlr.deUNSPECIFIED
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Date:4 October 2018
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2018.2855799
Page Range:pp. 3638-3645
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Space robotics, optimization and optimal control, visual servoing, visual tracking.
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 - Projekt OOS-E2E (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Lampariello, Roberto
Deposited On:03 Dec 2018 14:13
Last Modified:14 Dec 2019 04:23

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