Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots

被引：34

作者：

Giordano, Alessandro Massimo ^{[1
,2
]}

Ott, Christian ^{[2
]}

Albu-Schaeffer, Alin ^{[1
,2
]}

机构：

[1] Univ Munich, Dept Informat, D-85748 Garching, Germany

[2] German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2019年 / 4卷 / 02期

关键词：

Space robotics and automation; motion control; dynamics; compliance and impedance control; MANIPULATORS;

D O I：

10.1109/LRA.2019.2899433

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter addresses the coordinated control of the spacecraft's attitude and the end-effector pose of a manipulator-equipped space robot. A controller is proposed to simultaneously regulate the spacecraft's attitude, the global center-of-mass, and the end-effector pose. The control is based on a triangular actuation decomposition that decouples the end-effector task from the spacecraft's force actuator, increasing fuel efficiency. The strategy is validated in hardware using a robotic motion simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a six DOF base. The tradeoff between control requirements and fuel consumption is discussed.

引用

页码：2108 / 2115

页数：8