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A Compliant Partitioned Shared Control Strategy for an Orbital Robot

Mishra, Hrishik and Balachandran, Ribin and De Stefano, Marco and Ott, Christian (2021) A Compliant Partitioned Shared Control Strategy for an Orbital Robot. IEEE Robotics and Automation Letters, 6 (4), pp. 7317-7324. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3097509. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9488248

Abstract

In this letter, a novel partitioned shared controller is proposed, which exploits a fully-actuated orbital robot to perform a primary end-effector task involving environmental interactions. This task is remotely performed using a bilateral teleoperation controller, while a secondary task is automatically controlled in situ for operational safety in a partitioned manner. In particular, the proposed method is derived as a modified 4-Channel teleoperation architecture. The orbital robot’s momentum and shape (joints) dynamics are exploited to benefit the controller design. Asymptotic stability and finite-gain L2-stability are proved in the absence and presence of external interactions, respectively. Furthermore, the proposed method is validated experimentally on a hardware-in-the-loop facility.

Item URL in elib:https://elib.dlr.de/147107/
Document Type:Article
Title:A Compliant Partitioned Shared Control Strategy for an Orbital Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Mishra, Hrishikhrishik.mishra (at) dlr.dehttps://orcid.org/0000-0002-5025-2447
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
De Stefano, Marcomarco.destefano (at) dlr.dehttps://orcid.org/0000-0003-3777-9487
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:21 August 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:6
DOI :10.1109/LRA.2021.3097509
Page Range:pp. 7317-7324
Editors:
EditorsEmailEditor's ORCID iD
Cacace, JonathanUNSPECIFIEDUNSPECIFIED
Pounds, PaulineUNSPECIFIEDUNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN:2377-3766
Status:Published
Keywords:Space robotics and automation, human-robot collaboration, compliance and impedance control.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO], R - RICADOS++ [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mishra, Hrishik
Deposited On:09 Dec 2021 14:23
Last Modified:09 Dec 2021 14:23

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