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.
![]() |
PDF
- Only accessible within DLR
20MB |
Abstract
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 | ||||||
Authors: |
| ||||||
Date: | 15 March 2018 | ||||||
Refereed publication: | No | ||||||
Open Access: | No | ||||||
Gold Open Access: | No | ||||||
In SCOPUS: | No | ||||||
In ISI Web of Science: | No | ||||||
Number of Pages: | 102 | ||||||
Status: | Published | ||||||
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 |
Repository Staff Only: item control page