De Stefano, Marco und Mishra, Hrishik und Balachandran, Ribin und Lampariello, Roberto und Ott, Christian und Secchi, Cristian (2019) Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy. IEEE Robotics and Automation Letters, 4 (2), Seiten 1319-1326. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2019.2895420. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/8626435
Kurzfassung
In this work we design a novel control strategy for a space manipulator operating on a controlled base. The proposed controllers resolve the tracking of the end-effector and the regulation of the base. In particular, we focus on the effects due to the different sampling rates of the manipulator and the base controllers which can generate stability issues. These effects are analysed from an energetic perspective and passivity-based controllers are designed for the base and the manipulator to avoid instability. The method is validated with simulations and experiments on a robotic facility, the OOS-Sim.
elib-URL des Eintrags: | https://elib.dlr.de/127658/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 25 Januar 2019 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
Band: | 4 | ||||||||||||||||||||||||||||
DOI: | 10.1109/LRA.2019.2895420 | ||||||||||||||||||||||||||||
Seitenbereich: | Seiten 1319-1326 | ||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Space Robotics and Automation, Compliance and Impedance Control, Multi-Robot Systems, Tracking Control. | ||||||||||||||||||||||||||||
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): | R - Vorhaben Robotdynamik & Simulation (alt) | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||
Hinterlegt von: | De Stefano, Marco | ||||||||||||||||||||||||||||
Hinterlegt am: | 03 Jun 2019 18:10 | ||||||||||||||||||||||||||||
Letzte Änderung: | 31 Okt 2023 15:13 |
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