Giordano, Alessandro Massimo und Dietrich, Alexander und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2020) Coordination of thrusters, reaction wheels, and arm in orbital robots. Robotics and Autonomous Systems, 131. Elsevier. doi: 10.1016/j.robot.2020.103564. ISSN 0921-8890.
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Offizielle URL: https://www.sciencedirect.com/science/article/abs/pii/S0921889020304048?via%3Dihub
Kurzfassung
A fuel-efficient control strategy for a manipulator-equipped spacecraft is presented. The strategy uses the thrusters, the reaction wheels, and the arm drives in a coordinated way to limit the use of the thrusters and achieve ideally zero fuel consumption in contact-free maneuvering. The thrusters are activated automatically only after contact, to stabilize the inertial motion of the system. The controller regulates the translation of the center-of-mass (CoM) of the whole space robot, the rotation of the spacecraft, and the pose of the end-effector (EE) in a decoupled way, utilizing the thrusters to control the CoM translation only and the remaining actuators to control the rotation and end-effector coordinately. The method is validated experimentally using a hardware-in-the-loop simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a 6DOF simulated spacecraft. Numerical simulations with discrete thrusters assess the fuel efficiency of the proposed strategy.
elib-URL des Eintrags: | https://elib.dlr.de/137974/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Titel: | Coordination of thrusters, reaction wheels, and arm in orbital robots | ||||||||||||||||||||
Autoren: |
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Datum: | 2020 | ||||||||||||||||||||
Erschienen in: | Robotics and Autonomous Systems | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
Band: | 131 | ||||||||||||||||||||
DOI: | 10.1016/j.robot.2020.103564 | ||||||||||||||||||||
Verlag: | Elsevier | ||||||||||||||||||||
ISSN: | 0921-8890 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Space robotics Thrusters Reaction wheels Stability analysis Nonlinear control Hardware-in-the-loop | ||||||||||||||||||||
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): | R - On-Orbit Servicing [SY] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Giordano, Alessandro Massimo | ||||||||||||||||||||
Hinterlegt am: | 24 Nov 2020 17:21 | ||||||||||||||||||||
Letzte Änderung: | 23 Okt 2023 14:26 |
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