Open Access

Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator

Filip Dyba
Filip Dyba
, 
Tomasz Rybus
Tomasz Rybus
, 
Mateusz Wojtunik
Mateusz Wojtunik
 and 
Fatina Liliana Basmadji
Fatina Liliana Basmadji
   | Dec 29, 2023
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Published Online: Dec 29, 2023
Page range: 214 - 229
Received: Dec 14, 2022
Accepted: Aug 17, 2023
DOI: https://doi.org/10.2478/arsa-2023-0024
Keywords
© 2023 Filip Dyba et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1.

Schematic view of the satellite-manipulator system
Schematic view of the satellite-manipulator system

Figure 2.

Scheme of the active 6 DoF force/torque control algorithm (solid lines – input/output signals, dotted lines – dependencies/values required for calculation)
Scheme of the active 6 DoF force/torque control algorithm (solid lines – input/output signals, dotted lines – dependencies/values required for calculation)

Figure 3.

Visualisation of the force sphere
Visualisation of the force sphere

Figure 4.

End-effector positions and orientations with respect to the LAR frame (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control, black solid line – desired)
End-effector positions and orientations with respect to the LAR frame (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control, black solid line – desired)

Figure 5.

External forces from the contact model (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)
External forces from the contact model (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)

Figure 6.

Resultant values of momentum and angular momentum of the satellite-manipulator system (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)
Resultant values of momentum and angular momentum of the satellite-manipulator system (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)

Figure 7.

Resultant values of servicing satellite velocities (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)
Resultant values of servicing satellite velocities (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)

Figure 8.

Measured joint torques (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)
Measured joint torques (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)

Figure 9.

Loads measured between the seventh link and the end-effector (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)
Loads measured between the seventh link and the end-effector (blue dashed line – active 6 DoF force/torque control, red dotted line – Cartesian control)

Denavit–Hartenberg parameters of the manipulator

Link i qi (rad) λi (m) Li (m) αi (rad)
1 q1 + π/2 0.4 0 π/2
2 q2 + π/2 −0.35 0 π/2
3 q3 −0.3 0.6 0
4 q4 −0.35 0.35 0
5 q5 −0.3 0 − π/2
6 q6 + π/2 0.3 0 π/2
7 q7 0.25 0 0
EE 0 0.175 0 0

Link CoM positions and masses

Link X (m) Y (m) Z (m) Mass (kg)
1 0 0.3 0 15
2 0 −0.25 0 13
3 0.3 0 −0.2 18
4 0.25 0 −0.35 10
5 0 0.2 0 8.5
6 0 0.25 0 10.5
7 0 0 0.1 5
EE 0 0 0.1 7

PID controllers gains

Joint kp ki kd
1 140 10 0.01
2 210 10 0.01
3 140 10 0.01
4 105 1 0.01
5 105 1 0.01
6 21 1 0.01
7 21 1 0.01

Maximal values of measured joint torques

Joint Active 6 DoF force/torque control (N m) Cartesian control (N m)
1 1.50 1.89
2 2.45 4.21
3 1.68 2.72
4 0.86 0.72
5 1.10 1.55
6 0.17 0.35
7 0.036 0.027

Link inertia properties

Link Ixx (kg m2) Iyy (kg m2) Izz (kg m2) Ixy (kg m2) Ixz (kg m2) Iyz (kg m2)
1 0.2 0.15 0.1 0 0 0
2 0.2 0.12 0.12 0 0 0
3 0.3 1 1 0 0.2 0
4 0.08 0.45 0.4 0 0.1 0
5 0.6 0.55 0.35 0 0 0
6 0.75 0.4 0.7 0 0 0
7 0.3 0.3 0.3 0 0 0
EE 0.09 0.05 0.12 0 0 0
eISSN:
2083-6104
Language:
English
Publication timeframe:
4 times per year
Journal Subjects:
Geosciences, other
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