- Tytuł:
- Active 6 DoF force/torque control based on Dynamic Jacobian for free-floating space manipulator
- Autorzy:
-
Dyba, Filip
Rybus, Tomasz
Wojtunik, Mateusz
Basmadji, Fatina Liliana - Powiązania:
- https://bibliotekanauki.pl/articles/27314467.pdf
- Data publikacji:
- 2023
- Wydawca:
- Polska Akademia Nauk. Centrum Badań Kosmicznych PAN
- Tematy:
-
active force/torque control
free-floating manipulator
Dynamic Jacobian
capture manoeuvre
in-orbit servicing - Opis:
- In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces between the manipulator end-effector and the elements of the target object will occur in the grasping phase. In this paper, an active 6 Degrees of Freedom (DoF) force/torque control method for manipulator mounted on a free-floating servicing satellite is proposed. The main aim of the presented method is to balance the relation between end-effector position and force along each direction in the Cartesian space. The control law is based on the Dynamic Jacobian, which takes into account the influence of the manipulator motion on the state of the servicing satellite. The proposed approach is validated in numerical simulations with a simplified model of contact. Comparison with the classical Cartesian control shows that the active 6 DoF force/torque control method allows to obtain better positioning accuracy of the end-effector and lower control torques in manipulator joints in the presence of external forces.
- Źródło:
-
Artificial Satellites. Journal of Planetary Geodesy; 2023, 58, Special Issue 1; 214--229
2083-6104 - Pojawia się w:
- Artificial Satellites. Journal of Planetary Geodesy
- Dostawca treści:
- Biblioteka Nauki
Artykuł