De Stefano, Marco und Vijayan, Ria und Stemmer, Andreas und Elhardt, Ferdinand und Ott, Christian (2023) A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators. In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, Seiten 11859-11865. IEEE. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023-05-29 - 2023-06-02, London, UK. doi: 10.1109/ICRA48891.2023.10161480. ISBN 979-835032365-8. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/10161480
Kurzfassung
The on-ground validation of orbital manipulators is a challenging task because the robot is designed for a gravity-free operational environment, but it is validated under the effect of gravity. As a consequence, joint torque limits can be easily reached in certain configurations when gravity is actively compensated by the joints. Hence, the workspace for on-ground testing is restricted. In this paper, an optimal strategy is proposed for achieving gravity compensation of an orbital manipulator arm on ground. The strategy minimizes the joint torques acting on the manipulator by solving an optimization problem and it computes the necessary forces to be tracked by an external carrier. Hence, full gravity compensation is achieved for the orbital manipulator. Experimental results validate the effectiveness of the method on the DLR CAESAR space robot, which uses a cable suspended system as external carrier to track the desired gravity compensation force, resulting from the proposed method.
elib-URL des Eintrags: | https://elib.dlr.de/195553/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Poster) | ||||||||||||||||||||||||
Titel: | A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators | ||||||||||||||||||||||||
Autoren: |
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Datum: | 4 Juli 2023 | ||||||||||||||||||||||||
Erschienen in: | 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.1109/ICRA48891.2023.10161480 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 11859-11865 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||||||
ISBN: | 979-835032365-8 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Space robotics, gravity compensation, on-ground validation, CAESAR, | ||||||||||||||||||||||||
Veranstaltungstitel: | 2023 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
Veranstaltungsort: | London, UK | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 29 Mai 2023 | ||||||||||||||||||||||||
Veranstaltungsende: | 2 Juni 2023 | ||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||
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: | De Stefano, Marco | ||||||||||||||||||||||||
Hinterlegt am: | 19 Jun 2023 11:49 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:56 |
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