Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty

被引：63
|
作者：
Abiko, Satoko [1 ]
Lampariello, Roberto [1 ]
Hirzinger, Gerd [1 ]
机构：
[1] German Aerosp Ctr, Inst Robot & Mechatron, D-82334 Webling, Germany
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
D O I：
10.1109/IROS.2006.281785
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses an impedance control for a free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, considering the grasped target as a disturbance force on the end-effector, the proposed control method is completely independent of the target inertial parameters and the end-effector can follow a given trajectory in the presence of model uncertainty. To verify the effectiveness of the proposed method, a three-dimensional realistic numerical simulation is carried out.
引用
收藏
页码：1020 / +
页数：2
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