Paper Info
Title
Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty
Abstract
This paper addresses an impedance control for a free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, considering the grasped target as a disturbance force on the end-effector, the proposed control method is completely independent of the target inertial parameters and the end-effector can follow a given trajectory in the presence of model uncertainty. To verify the effectiveness of the proposed method, a three- dimensional realistic numerical simulation is carried out. I. INTRODUCTION Manipulator interaction with the environment requires operational space control schemes. Uncertainties in the environment model give rise to undesired forces on the robot end-effector. In the free-floating dynamics scenario, impacts may cause large deviations in motion and, for inad- equate control schemes, high control forces. It is therefore reasonable to avoid impact, if possible, and to introduce compliance at the end-effector. In this work, the task of grasping a tumbling target by means of a free-floating robot is addressed. The target is assumed to be initially tumbling in some given arbitrary free motion. Following an operational strategy by which the impact between the robot end-effector and the target is minimized at the grasp, the subsequent stabilization motion is analyzed here for the case of uncertainty in the target dynamic model. This leads to a tracking problem, where a given nominal stabilization trajectory has to be tracked, while accounting for the parameter uncertainty. This problem has been indirectly addressed in the context of adaptive control, in joint space and in operational space (1)(2). A new formulation in the context of impedance control is instead developed here. The resulting method provides a very simple means of deriving the operational space dynamic equations for a free-floating robot as well as a simple control law, based on feedback linearization, for the resolution of the given problem. The control method is tested in simulation for a realistic three-dimensional
Year
DOI
Venue
2006
10.1109/IROS.2006.281785
Beijing
Keywords
Field
DocType
aerospace robotics,end effectors,manipulator dynamics,mechanical variables control,end-effector,free-floating space robot,impedance control,operational space dynamics,parameter uncertainty,tumbling target
Inertial frame of reference,Computer simulation,Computer science,Control theory,Control engineering,Robot end effector,Impedance control,Robot,Aerospace robotics,Trajectory
Conference
ISBN
Citations 
PageRank 
1-4244-0259-X
10
1.04
References 
Authors
9
3
Name
Order
Citations
PageRank
Abiko Satoko18113.94
Roberto Lampariello2799.97
gerd hirzinger35185617.40