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

页码：1020 / +

页数：2

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