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On-ground experimental verification of a torque controlled free-floating robot

De Stefano, Marco and Artigas, Jordi and Giordano, Alessandro and Lampariello, Roberto and Albu-Schäffer, Alin (2015) On-ground experimental verification of a torque controlled free-floating robot. 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015), 11-13 May 2015, ESA/ESTEC, Noordwijk, the Netherlands.

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Abstract

In this paper, we present a comparison between two torque-based control algorithms for a free-floating robot: the first uses the generalized Jacobian transpose, while the second is based on a complete feedback linearization of the free floating robot dynamics. The analyzed task is to follow a desired trajectory (e.g. provided by a motion planner) and the controllers must satisfy predefined compliance and impedance conditions for the manipulator end effector. The effectiveness of the algorithms and the performance are demonstrated in simulation and through experiments on a hardware-in-the-loop facility.

Item URL in elib:https://elib.dlr.de/96736/
Document Type:Conference or Workshop Item (Speech)
Title:On-ground experimental verification of a torque controlled free-floating robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Artigas, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Giordano, Alessandroalessandro.giordano (at) dlr.deUNSPECIFIED
Lampariello, Robertoroberto.lampariello (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:2015
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:free-floating robot; torque control; robotics facility; OOS; space debris.
Event Title:13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015)
Event Location:ESA/ESTEC, Noordwijk, the Netherlands
Event Type:international Conference
Event Dates:11-13 May 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
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:22 Jun 2015 12:02
Last Modified:31 Jul 2019 19:53

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