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Coordinated Control Strategies for a Space Robot

Calzolari, Davide (2018) Coordinated Control Strategies for a Space Robot. DLR-Interner Bericht. DLR-IB-RM-OP-2018-44. Master's. Technische Universität München. 102 S.

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This thesis work presents an analysis of the functional differences between various coordinated control strategies for space manipulators, focusing primarily on fuel efficiency. First, a comparison between a standard free-flying controller and novel momentum-based controllers is conducted in order to demonstrate the advantages of the latter approaches. Then, since the considered schemes can suffer performance degradation due to the presence of singularities, the momentum-based method is further extended with a singularity avoidance potential that exploits the full actuation of the system. Thanks to this extension, the whole space robot can be imagined as a "flying end-effector", with the rest of the system executing only a manipulability optimization sub-task and avoiding rigid positioning of the base. This leads to a new paradigm for space robot control, inverting the typical conception of space robots, conventionally seen as a satellite plus an arm payload.

Item URL in elib:https://elib.dlr.de/126340/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Coordinated Control Strategies for a Space Robot
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Calzolari, DavideDavide.Calzolari (at) dlr.dehttps://orcid.org/0000-0003-0165-7621
Date:15 March 2018
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:102
Keywords:nonlinear control, space robotics, momentum-based control, comparison space robot controllers, null space control, singularity avoidance
Institution:Technische Universität München
Department:Department of Informatics
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) > Analysis and Control of Advanced Robotic Systems
Deposited By: Calzolari, Davide
Deposited On:11 Feb 2019 09:56
Last Modified:11 Feb 2019 09:56

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