Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture

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

doi:10.1109/iros.2012.6386082

Cited by 54 publications

(26 citation statements)

References 7 publications

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“…where v − and v + denote the penetration rate before and after the impact, respectively. The system is stable if ǫ < 1, neutrally stable if ǫ = 1, and unstable otherwise [29]. The results are summarized in Table 1 and Fig.…”

Section: Numerical Verificationmentioning

confidence: 89%

“…Indeed, the coefficient of restitution can be used as a control criteria to keep the system passive, or to perform a successful docking without back bouncing the Target satellite. Previous works [29] used it as a performance index in order to develop 1D control strategies for docking to uncooperative target satellites. Future works will use the passivity approach to monitor the stability of the hybrid simulator in 3D scenarios.…”

Section: Discussionmentioning

confidence: 99%

“…7a. On the other hand, instability of the nonlinear system is cued via the coefficient of restitution [29], denoted…”

Section: Numerical Verificationmentioning

confidence: 99%

See 2 more Smart Citations

Modeling and Stability Analysis of a Hybrid Docking Simulator

Zebenay

Boge

Choukroun

2013

AIAA Guidance, Navigation, and Control (GNC) Conference

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A hybrid docking simulator is a hardware-in-the-loop (HIL) simulator that includes a hardware element within a numerical simulation loop. One of the goals of performing a HIL simulation at the European Proximity Operation Simulator (EPOS) is the verification and validation of the docking phase in an on-orbit servicing mission. A key feature of the HIL docking simulator set-up is a feedback loop that is closed on the real force sensed at the docking interface during the contact with the probe. This force signal is used as input to the numerical simulation of the free-floating bodies in contact. The resulting relative 3D trajectory serves as a position command for the two robots end-effectors holding the probe and the docking interface. The high stiffness of the robots causes the contact duration to be shorter than the time delay in the robots' dynamics. This can lead to inconsistencies in the simulation results, to instability of the closed-loop system, and eventually to damages in the HIL system. This work presents a novel mitigation strategy to the given challenge, accompanied with stability analysis and validating experiments. The high-stiffness compliance issue is addressed by combining virtual and real compliances in the software and hardware, respectively. The method is presented here for six degrees of freedom. A linear stability analysis is provided for a 2D case. Experimental results are presented for a translational linear motion and for a 3D motion. This hybrid contact dynamics model and the accompanying analysis is envisioned to provide a safe and flexible docking simulator tool. This tool shall allow reproduction of the desired impact dynamics for any stiffness and damping characteristics within a desired stability, and thus safe, domain of operation.

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Section: Numerical Verificationmentioning

confidence: 89%

Section: Discussionmentioning

confidence: 99%

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Modeling and Stability Analysis of a Hybrid Docking Simulator

Zebenay

Boge

Choukroun

2013

AIAA Guidance, Navigation, and Control (GNC) Conference

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“…Наибольший интерес здесь представляет стыковка с некооперирующей целью [45], которой может являть-ся, например, объект космического мусора. В ходе таких экспериментов тести-руются не только алгоритмы управления движением, но и модели контактного взаимодействия и аппаратная часть, обеспечивающая захват целевого объекта.…”

Section: другие экспериментыunclassified

Test-Bench COSMOS for Microsatellite Control System Mock-Ups Modeling and Survey

2016

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“…Uyama et al [35] outlined an impedance-based control law for a free-flying robot utilizing a compliant wrist for the capture of non-cooperative spacecraft. The control law uses a contact dynamics model in conjunction with the open loop impedance controller to achieve a desired coefficient of restitution defined between the EE and a contact point on the target.…”

Section: Compliant Spacecraft Capturementioning

confidence: 99%

Optimal Trajectory Planning and Compliant Spacecraft Capture Using a Space Robot

Crain¹

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This work is dedicated to my entire family; you've all been there to support me in your own ways, and I love you all.ii Abstract Due to the ever-increasing volume of on-orbit debris, determining viable means of capturing and removing said debris has become vital. This thesis proposes solutions to the first two of three phases during debris removal: namely, deployment of a robotic manipulator, and the capture of a target spacecraft.

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Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture

Cited by 54 publications

References 7 publications

Modeling and Stability Analysis of a Hybrid Docking Simulator

Modeling and Stability Analysis of a Hybrid Docking Simulator

Test-Bench COSMOS for Microsatellite Control System Mock-Ups Modeling and Survey

Optimal Trajectory Planning and Compliant Spacecraft Capture Using a Space Robot

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