TY - GEN
T1 - Impedance control for free-flying space robots -basic equations and applications-
AU - Nakanishi, Hiroki
AU - Yoshida, Kazuya
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=34250687008&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250687008&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282334
DO - 10.1109/IROS.2006.282334
M3 - Conference contribution
AN - SCOPUS:34250687008
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3137
EP - 3142
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -