ICRA'09 Paper Abstract


Paper FrD10.3

Toglia, Chiara (University of Roma ''La Sapienza''), Kettler, Daniel (Massachusetts Institute of Technology), Kennedy, Fred (United States Air Force), Dubowsky, Steven (MIT)

A Study of Cooperative Control of Self-Assembling Robots in Space with Experimental Validation

Scheduled for presentation during the Regular Sessions "Space Robotics" (FrD10), Friday, May 15, 2009, 16:10−16:30, Room: 502

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Space Robotics, Cooperative Manipulators, Control Architectures and Programming


Modular self-assembling on-orbit robotic and satellite systems can be more reliable, have lower launch costs, and be more easily repaired and refueled. However, when individual modules assemble, many challenges and opportunities make the control of the assembled system complex. These issues include changes in inertial properties, and redundancy of actuators and sensors. Optimal control methods may be used to coordinate the control of the modules after assembly, insure good performance, and best utilize the combined resources of the assembly of modules. Simulation and experimental results compare this Cooperative algorithmís performance to that of an approach in which the control of the individual modules is not coordinated. Cooperative optimal control methods prove well-suited for controlling redundant, modular space systems.



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