Force sensorless impedance control for a space robot to capture a satellite for on-orbit servicing

Flores-Abad, Ángel; Nandayapa, Manuel; Garcia-Teran, Miguel A.

doi:10.1109/aero.2018.8396710

Cited by 18 publications

(12 citation statements)

References 14 publications

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“…The angular velocity can be directly measured using a gyro and the joint angles are measured by the encoders. On the other hand, the linear velocity, required only by the observer (5), and the joint velocities, required by both observers, are not directly measured but need to be reconstructed, either by using a discrete derivative or by fusion. Herein the problem of the reconstruction is not addressed and a simplified noise performance model has been used for the sake of comparing the performance of the two observer schemes with similar noise conditions.…”

Section: B Measurement Modelmentioning

confidence: 99%

“…For this reason, the space robot can be equipped with a force-torque sensor duly placed at the wrist. However, if the contact does not occur exactly at the foreseen location, the measurement may be inaccurate [5]. Furthermore, this kind of sensor can not be redundant and thus a failure could jeopardize the successful accomplishment of the task.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, other approaches have been proposed to estimate the contact force without the need of a dedicated sensor at the end-effector. In [5] the use of the disturbance observer is proposed, while in [6] the force is estimated through the target equations of motion. Both methods require quantities that are not measured directly, as the joint accelerations and the linear velocity of robot base for the former, and the target accelerations for the latter.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Contact force observer for space robots

Cavenago

Giordano

Massari

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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In this paper, the problem of estimating a contact wrench at the end-effector for a space robot is addressed. To this aim, a generalized force observer based on a base-joints dynamics is first reviewed. Then, a different formulation is proposed, which is based on a centroidal-joints dynamics. The proposed observer features interesting decoupling properties from the base linear velocity that lead to a more practical and better-performing estimation when limitations in real space scenarios are considered. The two observers are compared and the advantage of the proposed one is shown through a simulation example featuring a free-floating robot composed of a 7 degrees-of-freedom (DOF) arm mounted on a 6DOF moving base.

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Section: B Measurement Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Contact force observer for space robots

Cavenago

Giordano

Massari

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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“…In addition, the uncertainty of the end-effector contact force is also one of the factors affecting the control results [ 25 ]. Duan J et al [ 26 ] assumed that the contact process was like the compression of a linear spring and identified the stiffness coefficient [ 27 , 28 ] by adaptive algorithms [ 29 , 30 ]. Xue C et al [ 31 ] compensated the uncertainties in robotic manipulator dynamics through the radial basis functions neural networks (RBFNNs).…”

Section: Introductionmentioning

confidence: 99%

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

Kang

Zhang

et al. 2020

Sensors

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The contact force/torque between the end-effector of the space manipulator and the target spacecraft will reduce the efficiency and safety of the capture task. A capture strategy using PD-impedance combined control algorithm is proposed to achieve compliant contact between the chaser and target spacecraft. In order to absorb the impact energy, a spring-damper system is designed at the end-effector, and the corresponding dynamics model is established by Lagrange’s equation. Then a PD-impedance control algorithm based on steady-state force tracking error is proposed. Using this method, a compliant contact between the chaser and target spacecraft is realized while considering the dynamic coupling of the system. Finally, the general equation of the reference trajectory of the manipulator end-effector is derived according to the relative velocity and impact direction. The performance of the proposed capture strategy is studied by a co-simulation of MSC Adams and MATLAB Simulink in this paper. The results show that the contact plane at the end-effector of the manipulator can decelerate and detumble the target spacecraft. Besides, the contact force, relative velocity, and angular velocity all decrease to zero gradually, and the final stable state can be maintained for a prescribed time interval.

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“…For example, an impedance controller is proposed in [2] to grasp a tumbling target. In addition, it has been proven that this kind of control also works without the need of sensor data (force feedback), using a disturbance observer, also in space grasping [3]. When robotic system has more than one arm an IC variation exists called multiple impedance control (MIC), which was also proven to grasp [4].…”

Section: Introductionmentioning

confidence: 99%

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

Garcia

Gonzalez

Rodriguez

et al. 2019

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

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On-orbit satellite servicing is a technology that is expected to transform the space sector in the coming years. Space robotics is a promising approach to refuel, repair, update, and transport satellites on orbit. However, safe and reliable docking with the client satellite, needed as part of most servicing operations, is still considered a challenge. This paper presents an autonomous robot-based approach for this purpose. An impedance control strategy is added to the controller of a conventional robotic manipulator to allow compliant and safe manipulation of a spacecraft docking mechanism. This setup is expected to facilitate autonomous docking and manipulation operations with cooperative and non-cooperative on-orbit serviced satellites. Platform-art © , a dynamic test bench for hardware-in-the-loop validation of space GNC technologies is used to test the proposed approach.

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Force sensorless impedance control for a space robot to capture a satellite for on-orbit servicing

Cited by 18 publications

References 14 publications

Contact force observer for space robots

Contact force observer for space robots

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

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

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