Cavenago, Francesco und Giordano, Alessandro Massimo und Massari, Mauro (2019) Contact force observer for space robots. In: 58th IEEE Conference on Decision and Control, CDC 2019. 2019 IEEE 58th Conference on Decision and Control (CDC), 2019-12-11 - 2019-12-13, Nice, France. doi: 10.1109/CDC40024.2019.9029285.
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Kurzfassung
In this paper, the problem of estimating a contactwrench at the end-effector for a space robot is addressed. Tothis aim, a generalized force observer based on a base-jointsdynamics is first reviewed. Then, a different formulation isproposed, which is based on a centroidal-joints dynamics. Theproposed observer features interesting decoupling propertiesfrom the base linear velocity that lead to a more practicaland better-performing estimation when limitations in real spacescenarios are considered. The two observers are comparedand the advantage of the proposed one is shown through asimulation example featuring a free-floating robot composed ofa 7 degrees-of-freedom (DOF) arm mounted on a 6DOF movingbase.
elib-URL des Eintrags: | https://elib.dlr.de/138158/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Contact force observer for space robots | ||||||||||||||||
Autoren: |
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Datum: | Dezember 2019 | ||||||||||||||||
Erschienen in: | 58th IEEE Conference on Decision and Control, CDC 2019 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/CDC40024.2019.9029285 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | space robot; contact force observer; momentum-based; on-orbit servicing | ||||||||||||||||
Veranstaltungstitel: | 2019 IEEE 58th Conference on Decision and Control (CDC) | ||||||||||||||||
Veranstaltungsort: | Nice, France | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 11 Dezember 2019 | ||||||||||||||||
Veranstaltungsende: | 13 Dezember 2019 | ||||||||||||||||
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) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Giordano, Alessandro Massimo | ||||||||||||||||
Hinterlegt am: | 25 Nov 2020 09:47 | ||||||||||||||||
Letzte Änderung: | 29 Jul 2024 13:07 |
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