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De Stefano, Marco and Mishra, Hrishik and Balachandran, Ribin and Lampariello, Roberto and Ott, Christian and 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), pp. 1319-1326. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2019.2895420. ISSN 2377-3766.
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Official URL: https://ieeexplore.ieee.org/document/8626435
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/127658/ | ||||||||||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||||||||||
| Title: | Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy | ||||||||||||||||||||||||||||
| Authors: |
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| Date: | 25 January 2019 | ||||||||||||||||||||||||||||
| Journal or Publication Title: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||||||||||
| Volume: | 4 | ||||||||||||||||||||||||||||
| DOI: | 10.1109/LRA.2019.2895420 | ||||||||||||||||||||||||||||
| Page Range: | pp. 1319-1326 | ||||||||||||||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
| ISSN: | 2377-3766 | ||||||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||||||
| Keywords: | Space Robotics and Automation, Compliance and Impedance Control, Multi-Robot Systems, Tracking Control. | ||||||||||||||||||||||||||||
| 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): | R - Vorhaben Robotdynamik & Simulation (old) | ||||||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||||||||||
| Deposited By: | De Stefano, Dr. Marco | ||||||||||||||||||||||||||||
| Deposited On: | 03 Jun 2019 18:10 | ||||||||||||||||||||||||||||
| Last Modified: | 31 Oct 2023 15:13 |
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