Mishra, Hrishik und Giordano, Alessandro Massimo und De Stefano, Marco und Lampariello, Roberto und Ott, Christian (2021) Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. IEEE. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-24 - 2021-01-24, Las Vegas, NV, USA. doi: 10.1109/IROS45743.2020.9341633. ISBN 978-172816212-6. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/9341633
Kurzfassung
In this paper, we propose three novel Hardware-in-the-loop simulation (HLS) methods for a fully-actuated orbital robot in the presence of external interactions using On-Ground Facility Manipulators (OGFM). In particular, a fixed-base and a vehicle-driven manipulator are considered in the analyses. The key idea is to describe the orbital robot's dynamics using the Lagrange-Poincaré(LP) equations, which reveal a block-diagonalized inertia. The resulting advantage is that noisy joint acceleration/torque measurements are avoided in the computation of the spacecraft motion due to manipulator interaction even while considering external forces. The proposed methods are a consequence of two facilitating theorems, which are proved herein. These theorems result in two actuation maps between the simulated orbital robot and the physical OGFM. The chief advantage of the proposed methods is physical consistency without level-set assumptions on the momentum map. We validate this through experiments on both types of OGFM in the presence of external forces. Finally, the effectiveness of our approach is validated through a HLS of a fully-actuated orbital robot while interacting with the environment.
elib-URL des Eintrags: | https://elib.dlr.de/192899/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces | ||||||||||||||||||||||||
Autoren: |
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Datum: | 10 Februar 2021 | ||||||||||||||||||||||||
Erschienen in: | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/IROS45743.2020.9341633 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||||||
ISBN: | 978-172816212-6 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | inertia-decoupled equations | ||||||||||||||||||||||||
Veranstaltungstitel: | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||||||
Veranstaltungsort: | Las Vegas, NV, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 24 Oktober 2020 | ||||||||||||||||||||||||
Veranstaltungsende: | 24 Januar 2021 | ||||||||||||||||||||||||
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 Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||||||
Hinterlegt am: | 23 Dez 2022 11:24 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:54 |
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