Application of Impedance Control in Robotic Manipulators for Spacecraft On-orbit Servicing

Garcia, Javier; Gonzalez, Diego; Rodriguez, Andres; Santamaria, Bruno; Estremera, J.; Armendia, Mikel

doi:10.1109/etfa.2019.8869069

Cited by 11 publications

(7 citation statements)

References 10 publications

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“…A computed-torque impedance control approach for robotic-assisted mold polishing is designed in the study by Ochoa and Cortesa˜o (2021). An impedance control method is designed to the controller of a conventional robotic manipulator to allow compliant operation and safe manipulation of a spacecraft docking mechanism (Garcı´a et al, 2019). Stolfi et al (2017) proposed a combination of proportionalderivative (PD) control and impedance control for the problem of noncooperative target capture so that the end-effector can behave like a mass-spring-damper system no matter how the base moves.…”

Section: Introductionmentioning

confidence: 99%

The model reference adaptive impedance control for underwater manipulator compliant operation

Zhang

Han

Liu

et al. 2023

Transactions of the Institute of Measurement and Control

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It is essential for the diversity of operation targets during the underwater manipulator’s task. The joint friction, the time-varying characteristics of physical parameters, and inaccurate measurement of the dynamic bring trouble of model uncertainty. For these problems, a model reference adaptive impedance controller is proposed to achieve the manipulator flexible operation. The desired impedance model is designed for the outer loop force tracking, and the model reference adaptive impedance controller is employed for the inner loop. At the same time, the adaptive law is designed based on the operation space position and the desired position of the desired impedance model output. To eliminate the time-varying characteristics of physical parameters, a new bounded-gain-forgetting adaptive law is designed to compensate the uncertain error between the manipulator model and estimate model. It is ensured that the closed-loop manipulator dynamic is consistent with the desired impedance model, correspondingly the manipulator end operation force tracking the standard force signal is realized, and the desired position error of the end position of the manipulator to the desired impedance model output asymptotically converges to zero. The simulation experiment of a two-degree-of-freedom manipulator is implemented on the Matlab/Simulink platform. The results show that the designed controller has good force–position tracking asymptotical convergence ability under the uncertain dynamic, and the controller has robustness and stability performance.

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Section: Introductionmentioning

confidence: 99%

The model reference adaptive impedance control for underwater manipulator compliant operation

Zhang

Han

Liu

et al. 2023

Transactions of the Institute of Measurement and Control

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“…The semi-physical simulation test uses the air-bearing method to balance the gravity, simulating two DOF motion of the spacecraft. Yang et al, 19 Regoli et al, 20 Garcia et al, 21 Ma et al, 22 and Boge et al 23 proposed a microgravity experimental method of BDM using two industrial manipulators with fixed bases to provide six DOF motion for the satellite based on HIL. However, two manipulators are required to cooperate in the test system, resulting in a large investment.…”

Section: Introductionmentioning

confidence: 99%

Hardware-in-the-loop based ground test system for space berthing and docking mechanism of small spacecraft

Wei,

Yang,

Bai

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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Ground test for space berthing and docking mechanism plays crucial roles in their stable operation in orbit. In this paper, a hardware-in-the-loop based ground test system is presented for economic reliability test for space berthing and docking mechanism of small spacecraft. In the system, the support and adapter unit is employed to fix the active part of the berthing and docking mechanism, and the end-effector of the manipulator connects the passive part. The manipulator is driven according to the relative motion calculated by the hardware-in-the-loop model after gravity compensation, to simulate motion of space berthing and docking mechanism in space. A Smith predictor is introduced for control system delays compensation. A berthing and docking mechanism was employed in the experiment to evaluate the performance of the test system. The results validated the effectiveness of the test system. Since only one manipulator is exploited in the test system, compared with existing systems using two manipulators, the system cost can be greatly decreased.

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“…It accurately measures the force of the simulated object in real time, further calculates the motion of the object in zero gravity environment with the help of dynamic model, and then realizes the motion by the robot [7]. Accurate force sensing is the premise of accurate motion simulation [8].…”

Section: Introductionmentioning

confidence: 99%

Research on Force Sensing and Zero Gravity Motion Simulation Technology of Industrial Robot

Meng

Zhang

et al. 2021

Preprint

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Towards the zero-gravity simulation test requirements of spacecraft for on-orbit service missions, the zero-gravity motion simulation technology based on industrial robot was studied. In order to realize the accurate force sensing of load on robot, the BP neural network was used to establish the force prediction model. The model uses the robot pose, acceleration, angular velocity, and angular acceleration as input layer parameters, and uses the data from force/torque sensor on robot wrist as the output layer parameter. In order to realize the accurate force perception in whole working space of the robot, the orthogonal experiment design method was adopted to determine the path points of the robot for sample data collection. Based on the established force prediction model, the accurate force sensing of the end load of the robot under moving conditions is realized. In experiment, for the load with 100kg mass on robot, the maximum error of force sensing is 39.8N, and the root mean square error of force sensing is 9.3N. The maximum error of torque sensing is 18.7Nm, and the root mean square error of torque sensing is 4.4Nm. Furthermore, according to the real-time force sensing results of the robot load, the motion speed of the load in zero-gravity state is calculated by dynamics theory. Then the robot is driven to execute the corresponding motion of the load, and the zero gravity motion simulation of the load is realized.

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Application of Impedance Control in Robotic Manipulators for Spacecraft On-orbit Servicing

Cited by 11 publications

References 10 publications

The model reference adaptive impedance control for underwater manipulator compliant operation

The model reference adaptive impedance control for underwater manipulator compliant operation

Hardware-in-the-loop based ground test system for space berthing and docking mechanism of small spacecraft

Research on Force Sensing and Zero Gravity Motion Simulation Technology of Industrial Robot

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