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Giordano, Alessandro Massimo and Davide, Calzolari and 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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Official URL: https://ieeexplore.ieee.org/document/8460478
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/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Poster) | ||||||||||||||||
| Title: | Workspace fixation for free-floating space robot operations | ||||||||||||||||
| Authors: |
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| Date: | 2018 | ||||||||||||||||
| Journal or Publication Title: | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| DOI: | 10.1109/ICRA.2018.8460478 | ||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||
| ISBN: | 978-153863081-5 | ||||||||||||||||
| 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 Start Date: | 21 May 2018 | ||||||||||||||||
| Event End Date: | 25 May 2018 | ||||||||||||||||
| 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): | On-Orbit Servicing (old) | ||||||||||||||||
| 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: | 24 Apr 2024 20:30 |
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