Impedance-based contact control of a free-flying space robot with respect to coefficient of restitution

Uyama, Naohiro; Hirano, Daichi; Nakanishi, Hiroki; Nagaoka, Kenji; Yoshida, Kazuya

doi:10.1109/sii.2011.6147619

Cited by 26 publications

(14 citation statements)

References 5 publications

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“…FIGURES 16,19,22 plot the time histories of the close angle of the end-effector. As could be seen in FIGURES 14,15,17,18,20,21, there are oscillations in all of the distance and relative velocity curves in the initial stage of three simulations. These illustrate that there are multiple collisions between the space robot and the target satellite in this stage.…”

Section: A Effectiveness Evaluation Of the Control Methodsmentioning

confidence: 71%

“…To overcome the shortcoming of conventional impedance control and realize the impedance match control, a modified impedance control was proposed by Nakanishi and Yoshida [14]. Although the validity of this method was demonstrated through simulations and experiments, Uyama et al [15] pointed out that it may not be suitable for the space-capturing mission, and accordingly proposed a new impedance control method. The core idea of their method is to realize the desired restitution coefficient by controlling the relative motion of the robot arm tip and the target object.…”

Section: Introductionmentioning

confidence: 99%

“…In [18], [19], the compliant wrist was also added to the end-effector and the impedance control method has been adopted for contact control. Unlike [15], the compliant wrist was employed only to prolong the contact duration when the space robot collides with the target. To achieve superior performance, a Proportional-Derivative (PD) controller was designed for the position and attitude control of the space robot base.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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Grasping a non-cooperative ''customer satellite'' with a robotic arm is a challenging task for on-orbit services of spacecraft since the collision between the robot and the target is inevitable and the dynamic behaviors of the two objects are hard to control after the collision. To grasp successfully, the contact between the space robot and the target is hoped to be maintained after the collision. In this paper, the contact control problem for grasping a non-cooperative satellite is studied. First, to simulate the contact conditions as realistic as possible, the multibody dynamics, the modified Hertz contact, and the contact detection theory are employed to establish a grasping dynamics model. Then, based on the study on the dynamic behavior of the two-ball collision problem, a hybrid control scheme with damping and attitude tracking controllers is proposed. By this scheme, the control goal, i.e. maintaining the contact between the robot and the target, can be realized after multiple collisions. Finally, numerical simulations are performed to validate the proposed control scheme, and the results demonstrate its effectiveness in grasping a non-cooperative tumbling satellite.

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Section: A Effectiveness Evaluation Of the Control Methodsmentioning

confidence: 71%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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“…manipulator in free-floating environment. Approaches based on compliance control of space manipulators for on-orbit interaction are, for instance, the impedance control of a free-flying space robot proposed by Yoshida, et al [11]- [13], the joint compliance control by Nishida, et al [14], and impedance control of dexterous space manipulators by Colbaugh, et al [15]. As these space manipulators are free-floating, these control approaches are similar to our approach.…”

Section: Related Workmentioning

confidence: 70%

Compliant Manipulation of Free-Floating Objects

Sharma

Suomalainen

Kyrki

2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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Compliant motions allow alignment of workpieces using naturally occurring interaction forces. However, freefloating objects do not have a fixed base to absorb the reaction forces caused by the interactions. Consequently, if the interaction forces are too high, objects can gain momentum and move away after contact. This paper proposes an approach based on direct force control for compliant manipulation of free-floating objects. The objective of the controller is to minimize the interaction forces while maintaining the contact. The proposed approach achieves this by maintaining small constant force along the motion direction and an apparent reduction of manipulator inertia along remaining Degrees of Freedom (DOF). Simulation results emphasize the importance of relative inertia of the robotic manipulator with respect to the free-floating object. The experiments were performed with KUKA LWR4+ manipulator arm and a two-dimensional microgravity emulator (object floating on an air bed), which was developed in-house. It was verified that the proposed control law is capable of controlling the interaction forces and aligning the tools without pushing the object away. We conclude that direct force control works better with a free-floating object than implicit force control algorithms, such as impedance control.

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“…The specific dynamic properties and manipulability of space robot manipulators mounted on a free-flying base have been well studied (Papadopoulos, 1990;Yoshida, 2003;Moosavian and Papadopoulos, 2007). In the future, taking advantage of recent advancements in the design of serviceable satellites (Butail and Peck, 2007) as well as accommodated contact manoeuvres (Uyama et al, 2011), space robot manipulators are intended to repair or capture defective satellites and debris in the orbital environment.…”

Section: Introductionmentioning

confidence: 99%

Simulation of actuated and controlled robot manipulators

Kaigom

Roßmann

2013

IJMA

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As an extension of the virtual testbed framework for space missions planning, design and analysis, the recently introduced concept of eRobotics supports the entire hardware-life-cycle of robotic systems and paves the way for new technologies, while drastically cutting down costs. In this work, within the context of eRobotics, we address the simulation of electrically driven robot manipulators down to actuation. We present a systematical, highly modular approach, which exploits the electromechanical analogy to capture the structure of the robot drive train system uniformly. The modified nodal analysis is used to assemble and simulate the drive train. A polymorphism-based architecture is introduced to handle both electrical and mechanical constituting components. Torques needed to enable a simulated 7-DoF light-weight-robot manipulator to track a given joint trajectory are commanded and provided in a two-stage position and torque control scheme. The motor voltage requirement is predicted. Simulation results illustrate the effectiveness and usability of the approach.

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Impedance-based contact control of a free-flying space robot with respect to coefficient of restitution

Cited by 26 publications

References 5 publications

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

Compliant Manipulation of Free-Floating Objects

Simulation of actuated and controlled robot manipulators

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