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

Naohiro Uyama, Hiroki Nakanishi, Kenji Nagaoka, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

41 Citations (Scopus)

Abstract

This paper presents the impedance-based contact control of a free-flying space robot utilizing a compliant wrist for non-cooperative satellite capture operation. An open loop impedance control law based on contact dynamics model is introduced to realize a desired coefficient of restitution defined between a manipulator hand of a space robot and a contact point on a free-flying target. The coefficient of restitution and the damping ratio are expressed as a function of contact and impedance parameters; and hence, the impedance parameters are tuned by setting a desired coefficient of restitution and a desired damping ratio. The collision experiment using twodimensional microgravity emulator, called air-floating test bed, verifies that the proposed open loop control law is capable of realizing a desired coefficient of restitution with fairly small errors.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4477-4482
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Uyama, N., Nakanishi, H., Nagaoka, K., & Yoshida, K. (2012). Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 4477-4482). [6386082] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386082