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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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