Giordano, Alessandro Massimo und Davide, Calzolari und Alin, Albu-Schäffer (2018) Workspace fixation for free-floating space robot operations. In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2018-05-21 - 2018-05-25, Brisbane. doi: 10.1109/ICRA.2018.8460478. ISBN 978-153863081-5. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/8460478
Kurzfassung
When a space robot accidentally or voluntarily comes in contact with a target object, a workspace shift happens due to exchange of momentum between the objects. The problem of workspace adjustment is addressed herein. A novel controller is derived to simultaneously adjust the workspace and control the end-effector pose. The controller is based on a center-of-mass (CoM) regulation which fixes the workspace in the inertial space while leaving the base free to move, resulting in fuel efficiency. The control is validated on hardware using a robotic simulator composed of a seven degree-of-freedom (DOF) arm mounted on a 6DOF moving base.
elib-URL des Eintrags: | https://elib.dlr.de/126555/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||
Titel: | Workspace fixation for free-floating space robot operations | ||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||
Erschienen in: | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/ICRA.2018.8460478 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||
ISBN: | 978-153863081-5 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | space robot; control; free-floating; free-flying; center of mass; multibody dynamics; | ||||||||||||||||
Veranstaltungstitel: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||
Veranstaltungsort: | Brisbane | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 21 Mai 2018 | ||||||||||||||||
Veranstaltungsende: | 25 Mai 2018 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | On-Orbit Servicing (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Giordano, Alessandro Massimo | ||||||||||||||||
Hinterlegt am: | 04 Mär 2019 09:50 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:30 |
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