ICRA 2011 Paper Abstract

Close

Paper TuP207.6

Zarafshan, Payam (K. N. Toosi University of Technology), moosavian, S. Ali A. (K. N. Toosi Univ. of Technology)

Control of a Space Robot with Flexible Members

Scheduled for presentation during the Regular Sessions "Space Robotics" (TuP207), Tuesday, May 10, 2011, 16:40−16:55, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Space Robotics, Force Control, Mobile Manipulation

Abstract

Dynamics and control of a space robotic system with flexible ‎members during an object manipulation task is studied here. ‎Flexible members such as solar panels of space free flying ‎robotic systems and their flexible joints during a manoeuvre ‎may get stimulated and vibrate. Therefore, such vibrations will ‎cause some oscillatory disturbance forces on the moving base ‎and manipulated object, which in turn produces error in the ‎position and speed of the manipulating end-effectors. To ‎encounter this flexibility effects, these flexible members are ‎classified into active and passive elements, to study the ways of ‎controlling the vibration effects of such members. In this paper, ‎first the system dynamics is partitioned into two rigid and ‎flexible bodies’ motion, and a practical model for control ‎implementations on compounded rigid-flexible multi-body ‎systems is developed. Then, based on a designed ‎path/trajectory for a space robotic system, the multiple ‎impedance control is extended to perform an object ‎manipulation task by such complicated rigid-flexible multi-‎body systems. Finally, a space free flying robotic system is ‎simulated which contains two 2-DOF planar manipulators with ‎flexible joints, and a rotating antenna and a camera as its third ‎and fourth arm, appended with two solar panels. Obtained ‎results reveal the merits of the p

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2020 PaperCept, Inc.
Page generated 2020-04-02  13:05:44 PST  Terms of use