Giordano, Alessandro Massimo und Ott, Christian und Albu-Schäffer, Alin (2019) Coordinated control of spacecraft’s attitude and end-effector for space robots. IEEE Robotics and Automation Letters, 4 (2). IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2019.2899433. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8642332
Kurzfassung
This letter addresses the coordinated control of the spacecraft’s attitude and the end-effector pose of a manipulator-equipped space robot. A controller is proposed to simultaneously regulate the spacecraft’s attitude, the global center-of-mass, and the end-effector pose. The control is based on a triangular actuation decomposition that decouples the end-effector task from the spacecraft’s force actuator, increasing fuel efficiency. The strategy is validated in hardware using a robotic motion simulator com- posed of a seven degrees-of-freedom (DOF) arm mounted on a six DOF base. The tradeoff between control requirements and fuel consumption is discussed.
elib-URL des Eintrags: | https://elib.dlr.de/127691/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Coordinated control of spacecraft’s attitude and end-effector for space robots | ||||||||||||||||
Autoren: |
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Datum: | 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.2019.2899433 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Space Robotics and Automation, Motion Control, Dynamics, Compliance and Impedance 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): | On-Orbit Servicing (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Giordano, Alessandro Massimo | ||||||||||||||||
Hinterlegt am: | 11 Jun 2019 11:38 | ||||||||||||||||
Letzte Änderung: | 21 Nov 2023 13:45 |
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