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Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy

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


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/
Document Type:Article
Title:Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
Balachandran, RibinUNSPECIFIEDhttps://orcid.org/0000-0002-7560-471XUNSPECIFIED
Lampariello, RobertoUNSPECIFIEDhttps://orcid.org/0000-0002-8479-2900UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:25 January 2019
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1319-1326
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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, Marco
Deposited On:03 Jun 2019 18:10
Last Modified:31 Oct 2023 15:13

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