elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Time-delay Compensation Using Energy Tank for Satellite Dynamics Robotic Simulators

De Stefano, Marco and Vezzadini, Luca and Secchi, Cristian (2019) Time-delay Compensation Using Energy Tank for Satellite Dynamics Robotic Simulators. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 04-08 November 2019, Macau, China.

[img] PDF
912kB

Abstract

In this work we present a novel approach which compensates the destabilising effects of the time delay intrinsic in the control loop of an admittance-controlled robot employed for satellite dynamics simulation. The method is based on an energy storing element, the tank, which is exploited by the controller to preserve the passivity of the system and to avoid instability. Furthermore, we compare the performance of the proposed method with existing energy-based approaches, namely time-domain-passivity and wave variable transformation. The performance comparison and robustness of the methods are analysed in a Montecarlo simulation and validated experimentally.

Item URL in elib:https://elib.dlr.de/130545/
Document Type:Conference or Workshop Item (Speech)
Title:Time-delay Compensation Using Energy Tank for Satellite Dynamics Robotic Simulators
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Stefano, Marcomarco.destefano (at) dlr.dehttps://orcid.org/0000-0003-3777-9487
Vezzadini, Lucaluca.vezzadini (at) dlr.deUNSPECIFIED
Secchi, Cristiancristian.secchi (at) unimore.itUNSPECIFIED
Date:2019
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Stability, Hardware-in-the-loop, admittance control, space robotics
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Macau, China
Event Type:international Conference
Event Dates:04-08 November 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
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:14 Nov 2019 09:27
Last Modified:14 Nov 2019 09:27

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.