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Workspace fixation for free-floating space robot operations

Giordano, Alessandro Massimo and Davide, Calzolari and Alin, Albu-Schäffer (2018) Workspace fixation for free-floating space robot operations. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Brisbane.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/126555/
Document Type:Conference or Workshop Item (Poster)
Title:Workspace fixation for free-floating space robot operations
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Davide, Calzolaridavide.calzolari (at) dlr.deUNSPECIFIED
Alin, Albu-SchäfferAlin.Albu-Schäffer (at) dlr.deUNSPECIFIED
Date:2018
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:space robot; control; free-floating; free-flying; center of mass; multibody dynamics;
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Brisbane
Event Type:international Conference
Event Dates:21-25 May 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):On-Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Giordano, Alessandro Massimo
Deposited On:04 Mar 2019 09:50
Last Modified:31 Jul 2019 20:24

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