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

Identyfikatory

DOI

10.2478/arsa-2023-0024

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

active force/torque control; free-floating manipulator; Dynamic Jacobian; capture manoeuvre; in-orbit servicing

• Wydawca: Centrum Badań Kosmicznych PAN ; De Gruyter
• Czasopismo: Artificial Satellites : Journal of Planetary Geodesy
• Rocznik: 2023
• Tom: Vol. 58, Special Issue 1
• Strony: 214--229
• Opis fizyczny: Bibliogr. 30 poz., rys., tab.

Twórcy

autor

Dyba Filip

• Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN), Warsaw, Poland
• Wroclaw University of Science and Technology, Wroclaw, Poland

autor

Rybus Tomasz

• Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN), Warsaw, Poland

autor

Wojtunik Mateusz

• Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN), Warsaw, Poland

autor

Basmadji Fatina Liliana

• Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN), Warsaw, Poland

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