ICRA 2011 Paper Abstract


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


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



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