TY - GEN
T1 - Whole-body motion control for capturing a tumbling target by a free-floating space robot
AU - Oki, Tomohisa
AU - Nakanishi, Hiroki
AU - Yoshida, Kazuya
PY - 2007/12/1
Y1 - 2007/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51349121931&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349121931&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399591
DO - 10.1109/IROS.2007.4399591
M3 - Conference contribution
AN - SCOPUS:51349121931
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2256
EP - 2261
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -