On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty

Satoko Abiko, Gerd Hirzinger

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

    28 Citations (Scopus)

    Abstract

    This paper addresses an on-line parameter adaptation for a momentum accumulation control of a space robot in the post-grasping of a tumbling target whose dynamic parameters are unknown a priori. The model inaccuracies in the target lead to an unexpected tumbling motion after grasping a target. It is desired to transfer the entire angular momentum to the reaction wheels as quickly as possible while stabilization trajectory of the robot-arm is tracked to avoid self-collision in the chaser-robot. Firstly, we derive a momentum control method from the angular momentum equation to accumulate the entire angular momentum into the reaction wheels. The parameter inaccuracies degrade the control performance. Then, an online adaptation law by using coupling force and momentum is proposed. A numerical simulation is carried out to verify the operational performance of the proposed method in the presence of model uncertainty.

    Original languageEnglish
    Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
    Pages847-852
    Number of pages6
    DOIs
    Publication statusPublished - 2007 Dec 1
    Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
    Duration: 2007 Oct 292007 Nov 2

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems

    Other

    Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
    CountryUnited States
    CitySan Diego, CA
    Period07/10/2907/11/2

    Keywords

    • Free-floating space robot
    • Model uncertainty
    • Momentum control
    • On-line parameter adaptation

    ASJC Scopus subject areas

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

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  • Cite this

    Abiko, S., & Hirzinger, G. (2007). On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 847-852). [4399190] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399190