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A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase

Vijayan, Ria and De Stefano, Marco and Ott, Christian (2022) A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase. In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE. International Conference on Robotics and Automation (ICRA), Philadelphia, USA. doi: 10.1109/ICRA46639.2022.9812067. ISBN 978-172819681-7. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/9812067


In this paper, we propose a detumbling strategy that stabilizes the motion of a tumbling client satellite using an orbital servicing manipulator, which is the goal of the post-grasp phase. One of the critical aspects in this phase is ensuring that excessive contact forces are not generated at the grasp interface. In addition, space mission requirements might demand a nominal manipulator configuration that is suitable for further manipulation/servicing activities. The proposed strategy allows the detumbling of the client motion while ensuring that the contact forces developed at the grasp interface do not violate a safety threshold. Further, it allows the reconfiguration of the manipulator arm by exploiting the full actuation capability of the manipulator-equipped servicing spacecraft. The controller guarantees joint task convergence in the nullspace of the manipulator's end-effector, and is also valid for kinematically singular configurations of the manipulator. It is further augmented using a quadratic programming based approach to optimally constrain the contact forces. Finally, simulation results for a post-grasp detumbling scenario are shown to validate the effectiveness of the proposed method.

Item URL in elib:https://elib.dlr.de/189351/
Document Type:Conference or Workshop Item (Speech)
Title:A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:July 2022
Journal or Publication Title:39th IEEE International Conference on Robotics and Automation, ICRA 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Detumbling, Post-grasp Phase, Impedance control
Event Title:International Conference on Robotics and Automation (ICRA)
Event Location:Philadelphia, USA
Event Type:international Conference
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 - OOS: Virtual Reality [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:25 Oct 2022 16:05
Last Modified:27 Oct 2023 15:29

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