Whole-body motion control for capturing a tumbling target by a free-floating space robot

Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida

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

24 Citations (Scopus)

Abstract

This paper discusses a control strategy of a free-floating space robot for capturing a non-cooperative target. It is desirable that the base attitude deviation of the robot is minimized for accurate operation by a manipulator arm mounted on it, for communication with the earth, and the ideal contact with the target so that the target would not be pushed away. impedance control and Distributed Momentum-Control are reasonable for the above two requirements. The proposed strategy includes both control methods simultaneously using the manipulator's redundancy. Moreover, a control law for reaction wheels is proposed so that the singularity problem would not happened. The proposed strategy is verified from results of numerical simulations that compare the different degree of freedom manipulator.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages2256-2261
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

ASJC Scopus subject areas

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

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