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 proceedingConference contribution

    56 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 languageEnglish
    Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    Pages1020-1025
    Number of pages6
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
    Duration: 2006 Oct 92006 Oct 15

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems

    Other

    Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    CountryChina
    CityBeijing
    Period06/10/906/10/15

    ASJC Scopus subject areas

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

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