Abiko, Satoko and Lampariello, Roberto and Hirzinger, Gerhard (2006) Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty. In: Proceedings, pp. 1020-1025. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.
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Abstract
This paper addresses an impedance control for free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, considering the grasped target as a disturbance force on the end-effector, the proposed control method is completely independent of the target inertial parameters and the end-effector can follow a given trajectory in the presence of model uncertainty. To verify the effectiveness of the proposed method, a three-dimensional realistic numerical simulation is carried out.
Item URL in elib: | https://elib.dlr.de/45153/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||
Title: | Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty | ||||||||||||
Authors: |
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Date: | 9 October 2006 | ||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
Page Range: | pp. 1020-1025 | ||||||||||||
Publisher: | IEEE/IROS International Conference on Intelligent Robots and Systems | ||||||||||||
Status: | Published | ||||||||||||
Keywords: | Impedance Control, Free-Floating Robot, Parameter Uncertainty | ||||||||||||
Event Title: | RSJ | ||||||||||||
Event Location: | Beijing, China | ||||||||||||
Event Type: | international Conference | ||||||||||||
Event Dates: | 2006-10-09 - 2006-10-15 | ||||||||||||
Organizer: | IEEE | ||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||||||
HGF - Program: | Space (old) | ||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Research area: | Space | ||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Research theme (Project): | W - Vorhaben On-Orbit Servicing (old) | ||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||
Deposited On: | 27 Feb 2007 | ||||||||||||
Last Modified: | 31 Jul 2019 19:18 |
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