Impedance Matching in Capturing a Satellite by a Space Robot

Kazuya Yoshida, Hiroki Nakanishi

Research output: Contribution to conferencePaperpeer-review

42 Citations (Scopus)

Abstract

In this paper, the contact motion between rigid body systems floating in space is formulated and dynamic conditions are investigated in order to capture a non-cooperative satellite. As for the theoretical investigation, impedance matching is discussed for the case in which the robot hand under impedance control approaches and collides with a passive target, and a specific impedance value is defined to yield the matching. The impedance matching is understood to give a criteria if the contact is maintained with a target, or the target is pushed away. Experiments are carried out using two robot manipulators as a motion simulator of the chaser and target. Through the experiments, the concept of the impedance matching is verified, and a satellite capture operation is demonstrated using the strategy that an impedance controlled probe is inserted into the thruster nozzle cone of the target.

Original languageEnglish
Pages3059-3064
Number of pages6
Publication statusPublished - 2003 Dec 26
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • Control and Systems Engineering

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