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A Passivity-based Approach for Simulating Satellite Dynamics with Robots: Discrete Time Integration and Time Delay Compensation

De Stefano, Marco and Balachandran, Ribin and Secchi, Cristian (2019) A Passivity-based Approach for Simulating Satellite Dynamics with Robots: Discrete Time Integration and Time Delay Compensation. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TRO.2019.2945883 ISSN 1552-3098

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Official URL: https://ieeexplore.ieee.org/document/8879583

Abstract

This article proposes a passivity-based approach for simulating satellite dynamics on a position-controlled robot equipped with a force–torque sensor. Time delays intrinsic in the computational loop and discrete-time integration degrade the behavior of the satellite dynamics reproduced by the robot. These factors can generate an energy-inconsistent simulation and can even render the system unstable. In this article, time delay and discrete-time integration effects are analyzed from an energetic perspective and compensated through a passivity-based control strategy to ensure a faithful and stable dynamic simulation with position-controlled robots. The benefit of the proposed strategy is validated by simulations and experiments on the On-Orbit Servicing Simulator (OOS-SIM), a robotic facility used for simulating free-floating dynamics.

Item URL in elib:https://elib.dlr.de/130547/
Document Type:Article
Title:A Passivity-based Approach for Simulating Satellite Dynamics with Robots: Discrete Time Integration and Time Delay Compensation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
De Stefano, Marcomarco.destefano (at) dlr.dehttps://orcid.org/0000-0003-3777-9487
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Secchi, Cristiancristian.secchi (at) unimore.itUNSPECIFIED
Date:2 September 2019
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/TRO.2019.2945883
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Status:Published
Keywords:Hardware-in-the-loop Simulation, Time-delay, Discrete integrator, Stability, Admittance control
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 09:28
Last Modified:14 Nov 2019 09:28

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