Virtual mass of impedance system for free-flying target capture

Hiroki Nakanishi, Naohiro Uyama, Kazuya Yoshida

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

10 Citations (Scopus)

Abstract

This paper discusses the target motion around the contact in the satellite capture operation using a free-flying space robot. The contact force has the potential for pushing the target beyond the manipulator reach or making the target have a tumbling motion. An impedance control is useful to prevent the robot hand from pushing the target. However, the relationship between the dynamics parameters, contact characteristics, and target motion have not been clarified yet. In this paper, virtual mass of impedance system (VMI) model is proposed to represent the influence of the hand impedance on the target motion. Using this model, the condition to prevent the robot pushing the target away is clarified.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4101-4106
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Nakanishi, H., Uyama, N., & Yoshida, K. (2010). Virtual mass of impedance system for free-flying target capture. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 4101-4106). [5649131] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5649131