Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty

Satoko Abiko; Roberto Lampariello; Gerd Hirzinger

doi:10.1109/IROS.2006.281785

Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty

Satoko Abiko, Roberto Lampariello, Gerd Hirzinger

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

78 Citations (Scopus)

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.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	1020-1025
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.281785
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	06/10/9 → 06/10/15

ASJC Scopus subject areas

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

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10.1109/IROS.2006.281785

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Abiko, S., Lampariello, R., & Hirzinger, G. (2006). Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1020-1025). [4058497] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281785

Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty. / Abiko, Satoko; Lampariello, Roberto; Hirzinger, Gerd.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1020-1025 4058497 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abiko, S, Lampariello, R & Hirzinger, G 2006, Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058497, IEEE International Conference on Intelligent Robots and Systems, pp. 1020-1025, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.281785

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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.",

author = "Satoko Abiko and Roberto Lampariello and Gerd Hirzinger",

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AB - 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.

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Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty

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