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Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly

Mishra, Hrishik and De Stefano, Marco and Ott, Christian (2022) Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly. IFAC-PapersOnLine, 55 (20), pp. 235-240. IFAC Secretariat. doi: 10.1016/j.ifacol.2022.09.101. ISSN 2405-8963.

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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896322012915

Abstract

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.

Item URL in elib:https://elib.dlr.de/189342/
Document Type:Article
Additional Information:Part of special issue: 10th Vienna International Conference on Mathematical Modelling MATHMOD 2022: Vienna Austria, 27–29 July 2022
Title:Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:23 September 2022
Journal or Publication Title:IFAC-PapersOnLine
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:55
DOI:10.1016/j.ifacol.2022.09.101
Page Range:pp. 235-240
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
Kugi, AndreasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Körner, AndreasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kemmetmüller, WolfgangUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Deutschmann-Olek, AndreasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Breitenecker, FelixUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Troch, IngeUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Publisher:IFAC Secretariat
Series Name:IFAC-PapersOnLine
ISSN:2405-8963
Status:Published
Keywords:Motion Control - Robots manipulators - Passivity-based 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]
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:26 Oct 2022 20:45
Last Modified:26 Oct 2022 20:47

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