Impedance control for free-flying space robots -basic equations and applications-

Hiroki Nakanishi, Kazuya Yoshida

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

47 Citations (Scopus)

Abstract

One of the most important phases of a satellite capturing operation by a space robot is the contact phase. During the contact between the end-effector and grasping point, there is a risk that the target and the robot can be pushed away from each other by the contact force. An impedance control of the hand with respect to the inertial coordinate is effective in keeping the contact with the target. In this paper, we propose a method for impedance control for a space manipulator. The end tip of the manipulator is controlled like a mass-damper-spring system fixed at a point in space in spite of the reactive motion of the base. In order to verify the proposed method, numerical dynamics simulations are carried out. Furthermore, an application of the proposed control to orbital service mission is discussed.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3137-3142
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
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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    Nakanishi, H., & Yoshida, K. (2006). Impedance control for free-flying space robots -basic equations and applications-. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 3137-3142). [4058877] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282334