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Coordinated control of spacecraft’s attitude and end-effector for space robots

Giordano, Alessandro Massimo and Ott, Christian and 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.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8642332


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.

Item URL in elib:https://elib.dlr.de/127691/
Document Type:Article
Title:Coordinated control of spacecraft’s attitude and end-effector for space robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115792
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
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Space Robotics and Automation, Motion Control, Dynamics, Compliance and Impedance 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):On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Giordano, Alessandro Massimo
Deposited On:11 Jun 2019 11:38
Last Modified:21 Nov 2023 13:45

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