Mishra, Hrishik und De Stefano, Marco und Ott, Christian (2022) Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly. IFAC-PapersOnLine, 55 (20), Seiten 235-240. IFAC Secretariat. doi: 10.1016/j.ifacol.2022.09.101. ISSN 2405-8963.
PDF
- Verlagsversion (veröffentlichte Fassung)
1MB |
Offizielle URL: https://www.sciencedirect.com/science/article/pii/S2405896322012915
Kurzfassung
In this paper, a passivity-based controller is proposed for a reconfigurable multi-arm system, which is employed for in-orbit assembly. The reconfigurable system is composed of multiple anthropomorphic arms which can be connected to a torso or operate independently. The proposed control is applicable for all the morphologies of the multi-arm system while performing several operations required for the assembly task, such as walking on a telescope structure through dedicated mechanical interfaces. The constrained dynamics is exploited to derive a unified joint actuation control law for all the considered operations and morphologies. A Co-simulation framework was developed to simulate the operations for control prototyping, and simulation results prove the effectiveness of the proposed unified controller.
elib-URL des Eintrags: | https://elib.dlr.de/189342/ | ||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Zusätzliche Informationen: | Part of special issue: 10th Vienna International Conference on Mathematical Modelling MATHMOD 2022: Vienna Austria, 27–29 July 2022 | ||||||||||||||||||||||||||||
Titel: | Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly | ||||||||||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||||||||||
Datum: | 23 September 2022 | ||||||||||||||||||||||||||||
Erschienen in: | IFAC-PapersOnLine | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||
Band: | 55 | ||||||||||||||||||||||||||||
DOI: | 10.1016/j.ifacol.2022.09.101 | ||||||||||||||||||||||||||||
Seitenbereich: | Seiten 235-240 | ||||||||||||||||||||||||||||
Herausgeber: |
| ||||||||||||||||||||||||||||
Verlag: | IFAC Secretariat | ||||||||||||||||||||||||||||
Name der Reihe: | IFAC-PapersOnLine | ||||||||||||||||||||||||||||
ISSN: | 2405-8963 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Motion Control - Robots manipulators - Passivity-based control | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [RO] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||
Hinterlegt von: | Mishra, Hrishik | ||||||||||||||||||||||||||||
Hinterlegt am: | 26 Okt 2022 20:45 | ||||||||||||||||||||||||||||
Letzte Änderung: | 26 Okt 2022 20:47 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags