Multiple impedance control for space free-flying robots

Moosavian, SAA; Rastegari, R; Papadopoulos, E

dc.contributor.author	Moosavian, SAA	en
dc.contributor.author	Rastegari, R	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:22:49Z
dc.date.available	2014-03-01T01:22:49Z
dc.date.issued	2005	en
dc.identifier.issn	0731-5090	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/16662
dc.subject	Control Problem	en
dc.subject	Disturbance Rejection	en
dc.subject	Impedance Control	en
dc.subject	Robot Arm	en
dc.subject	System Dynamics	en
dc.subject	Angular Momentum	en
dc.subject.classification	Engineering, Aerospace	en
dc.subject.classification	Instruments & Instrumentation	en
dc.subject.other	Fixed-based manipulators	en
dc.subject.other	Multiple impedance control (MIC)	en
dc.subject.other	Satellite manipulators	en
dc.subject.other	Space free-flying robots (SFFR)	en
dc.subject.other	Algorithms	en
dc.subject.other	Control systems	en
dc.subject.other	Manipulators	en
dc.subject.other	Mathematical models	en
dc.subject.other	Robotic arms	en
dc.subject.other	Robots	en
dc.title	Multiple impedance control for space free-flying robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.2514/1.10252	en
heal.identifier.secondary	http://dx.doi.org/10.2514/1.10252	en
heal.language	English	en
heal.publicationDate	2005	en
heal.abstract	To increase the mobility of on-orbit robotic systems, space free-flying robots (SFFR), in which one or more manipulators are mounted on a thruster-equipped base, have been proposed. Unlike fixed-based manipulators, the robotic arms of SFFR are dynamically coupled with each other and the free-flying base; hence, the control problem becomes more challenging. The multiple impedance control (MIC) is developed to manipulate space objects by multiple arms of SFFR. The MIC law is based on the concept of designated impedances and enforces them at various system levels, that is, the free-flying base, all cooperating manipulators, and the manipulated object itself. The object can include an internal angular momentum source, as is the case in most satellite manipulation tasks. The disturbance rejection characteristic of this algorithm is also studied. The result of this analysis reveals that the effect of disturbances substantially reduces through appropriate tuning of the controller mass matrix gain. A system of three manipulators mounted on a free-flying base is simulated in which force and torque disturbances are exerted at several points. The system dynamics is developed symbolically, and the controlled system is simulated. The simulation results reveal the merits of the MIC algorithm in terms of smooth performance, that is, negligible small tracking errors in the presence of impacts as a result of contact with the obstacles and significant disturbances. Copyright © 2004 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.	en
heal.publisher	AMER INST AERONAUT ASTRONAUT	en
heal.journalName	Journal of Guidance, Control, and Dynamics	en
dc.identifier.doi	10.2514/1.10252	en
dc.identifier.isi	ISI:000231872200012	en
dc.identifier.volume	28	en
dc.identifier.issue	5	en
dc.identifier.spage	939	en
dc.identifier.epage	947	en