Open Access

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


Cite

Almeida, F., Lopes, A., Abreu, P. (2000) Force-Impedance Control of Robotic Manipulators. Proc. 4th Portuguese Conference on Automatic Control, Guimarães, Portugal. AlmeidaF. LopesA. AbreuP. 2000 Force-Impedance Control of Robotic Manipulators Proc. 4th Portuguese Conference on Automatic Control Guimarães, Portugal Search in Google Scholar

Basmadji, F.L., Rybus, T., Biedrzycka, A., Pawlus, M., Seweryn, K. (2018) Compliant control of the robotic arm during clamping operation in the e.Deorbit mission. Proc. Clean Space Industrial Days, ESTEC, Noordwijk, The Netherlands. BasmadjiF.L. RybusT. BiedrzyckaA. PawlusM. SewerynK. 2018 Compliant control of the robotic arm during clamping operation in the e.Deorbit mission Proc. Clean Space Industrial Days ESTEC, Noordwijk, The Netherlands Search in Google Scholar

Basmadji, F.L., Chmaj, G., Rybus, T., Seweryn, K. (2019) Microgravity testbed for the development of space robot control systems and the demonstration of orbital maneuvers. Proc. SPIE: Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments, Wilga, Poland. BasmadjiF.L. ChmajG. RybusT. SewerynK. 2019 Microgravity testbed for the development of space robot control systems and the demonstration of orbital maneuvers Proc. SPIE: Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments Wilga, Poland Search in Google Scholar

Calanca, A., Muradore, R., Fiorini, P. (2016) A review of algorithms for compliant control of stiff and fixed-compliance robots. IEEE/ASME Transactions on Mechatronics, Vol. 21, No. 2, 613–624. CalancaA. MuradoreR. FioriniP. 2016 A review of algorithms for compliant control of stiff and fixed-compliance robots IEEE/ASME Transactions on Mechatronics 21 2 613 624 Search in Google Scholar

Cavenago, F., Giordano, A.M., Massari, M. (2019) Contact force observer for space robots. Proc. 58th IEEE Conference on Decision and Control (CDC’2019), Nice, France. CavenagoF. GiordanoA.M. MassariM. 2019 Contact force observer for space robots Proc. 58th IEEE Conference on Decision and Control (CDC’2019) Nice, France Search in Google Scholar

Fehse, W. (2014) Rendezvous with and capture/removal of non-cooperative bodies in orbit: the technical challenges. Journal of Space Safety Engineering, Vol. 1, No. 1, 17–27. FehseW. 2014 Rendezvous with and capture/removal of non-cooperative bodies in orbit: the technical challenges Journal of Space Safety Engineering 1 1 17 27 Search in Google Scholar

García, J., Gonzalez, D., Rodríguez, A., Santamaria, B., Estremera, J., Armendia, M. (2019) Application of impedance control in robotic manipulators for spacecraft on-orbit servicing. Proc. 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'2019), Zaragoza, Spain. GarcíaJ. GonzalezD. RodríguezA. SantamariaB. EstremeraJ. ArmendiaM. 2019 Application of impedance control in robotic manipulators for spacecraft on-orbit servicing Proc. 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'2019) Zaragoza, Spain Search in Google Scholar

Granosik, G., Zubrycki, I., Soghbatyan, T., Zarychta, D., Gawryszewski, M. (2016) KUBE - platforma robotyczna dla badań naukowych i prac wdrożeniowych [in polish: KUBE - Robotic platform for research and implementation], Prace Naukowe Politechniki Warszawskiej: Elektronika, eds. Tchoń K., Zieliński C., Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa, Vol. 195, No. 1, 223–234. GranosikG. ZubryckiI. SoghbatyanT. ZarychtaD. GawryszewskiM. 2016 KUBE - platforma robotyczna dla badań naukowych i prac wdrożeniowych [in polish: KUBE - Robotic platform for research and implementation] Prace Naukowe Politechniki Warszawskiej: Elektronika eds. TchońK. ZielińskiC. Oficyna Wydawnicza Politechniki Warszawskiej Warszawa 195 1 223 234 Search in Google Scholar

Henshaw, C.G., Glassner, S., Naasz, B., Roberts, B. (2022) Grappling Spacecraft. Annual Review of Control, Robotics, and Autonomous Systems, Vol. 5, 137–159, doi: 10.1146/annurev-control-042920-011106 HenshawC.G. GlassnerS. NaaszB. RobertsB. 2022 Grappling Spacecraft Annual Review of Control, Robotics, and Autonomous Systems 5 137 159 10.1146/annurev-control-042920-011106 Open DOISearch in Google Scholar

Liu, X.F., Cai, G.P., Wang, M.M., Chen, W.J. (2020a) Contact control for grasping a non-cooperative satellite by a space robot. Multibody System Dynamics, Vol. 50, No. 2, 119–141. LiuX.F. CaiG.P. WangM.M. ChenW.J. 2020a Contact control for grasping a non-cooperative satellite by a space robot Multibody System Dynamics 50 2 119 141 Search in Google Scholar

Liu, X.F., Zhang, X.Y., Chen, P.C., Cai, G.P. (2020b) Hybrid control scheme for grasping a non-cooperative tumbling satellite. IEEE Access, Vol. 8, 54963–54978. LiuX.F. ZhangX.Y. ChenP.C. CaiG.P. 2020b Hybrid control scheme for grasping a non-cooperative tumbling satellite IEEE Access 8 54963 54978 Search in Google Scholar

Luu, M.A., Hastings, D.E. (2021) Review of On-Orbit Servicing Considerations for Low-Earth Orbit Constellations. Proc. ASCEND'2021 Conference, Las Vegas, NV, USA. LuuM.A. HastingsD.E. 2021 Review of On-Orbit Servicing Considerations for Low-Earth Orbit Constellations Proc. ASCEND'2021 Conference Las Vegas, NV, USA Search in Google Scholar

Nakanishi, H., Yoshida, K. (2006) Impedance control for free-flying space robots-basic equations and applications. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems 2006 (IROS'2006), Beijing, China. NakanishiH. YoshidaK. 2006 Impedance control for free-flying space robots-basic equations and applications Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems 2006 (IROS'2006) Beijing, China Search in Google Scholar

Oleś, J., Rybus, T., Seweryn, K., Surowiec, M., Wojtyra, M., Pietras, M., Scheper, M. (2017) Testing and simulation of contact during on-orbit operations. Proc. 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA’2017), Leiden, The Netherlands. OleśJ. RybusT. SewerynK. SurowiecM. WojtyraM. PietrasM. ScheperM. 2017 Testing and simulation of contact during on-orbit operations Proc. 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA’2017) Leiden, The Netherlands Search in Google Scholar

Palma, P., Seweryn, K., Rybus, T. (2022) Impedance Control Using Selected Compliant Prismatic Joint in a Free-Floating Space Manipulator, Aerospace, Vol. 9, No. 8, 406. PalmaP. SewerynK. RybusT. 2022 Impedance Control Using Selected Compliant Prismatic Joint in a Free-Floating Space Manipulator Aerospace 9 8 406 Search in Google Scholar

Pérez, P.R., De Stefano, M., Lampariello, R. (2018) Velocity matching compliant control for a space robot during capture of a free-floating target. Proc. 2018 IEEE Aerospace Conference, Big Sky, MT, USA. PérezP.R. De StefanoM. LamparielloR. 2018 Velocity matching compliant control for a space robot during capture of a free-floating target Proc. 2018 IEEE Aerospace Conference Big Sky, MT, USA Search in Google Scholar

Raibert, M.H., Craig, J.J. (1981) Hybrid position/force control of manipulators. Journal of Dynamic Systems, Measurement, and Control, Vol. 103, 126–133. RaibertM.H. CraigJ.J. 1981 Hybrid position/force control of manipulators Journal of Dynamic Systems, Measurement, and Control 103 126 133 Search in Google Scholar

Ratajczak, J., Tchoń, K. (2020) Normal forms and singularities of non-holonomic robotic systems: a study of free-floating space robots. Systems & Control Letters, Vol. 138, 104661. RatajczakJ. TchońK. 2020 Normal forms and singularities of non-holonomic robotic systems: a study of free-floating space robots Systems & Control Letters 138 104661 Search in Google Scholar

Rybus, T., Seweryn, K., Sąsiadek, J.Z. (2017) Control system for the free-floating space manipulator based on Nonlinear Model Predictive Control (NMPC). Journal of Intelligent & Robotic Systems, Vol. 85, No. 3, 491–509. RybusT. SewerynK. SąsiadekJ.Z. 2017 Control system for the free-floating space manipulator based on Nonlinear Model Predictive Control (NMPC) Journal of Intelligent & Robotic Systems 85 3 491 509 Search in Google Scholar

Rybus, T., Wojtunik, M., Basmadji, F.L. (2022) Optimal collision-free path planning of a free-floating space robot using spline-based trajectories. Acta Astronautica, Vol. 190, 395–408. RybusT. WojtunikM. BasmadjiF.L. 2022 Optimal collision-free path planning of a free-floating space robot using spline-based trajectories Acta Astronautica 190 395 408 Search in Google Scholar

Rybus, T., Lisowski, J., Seweryn, K., Barciński, T. (2012) Numerical Simulations and Analytical Analysis of the Orbital Capture Maneouvre as a Part of the Manipulator-Equipped Servicing Satellite Design. Proc. 17th International Conference on Methods and Models in Automation and Control (MMAR'2012), Międzyzdroje, Poland. RybusT. LisowskiJ. SewerynK. BarcińskiT. 2012 Numerical Simulations and Analytical Analysis of the Orbital Capture Maneouvre as a Part of the Manipulator-Equipped Servicing Satellite Design Proc. 17th International Conference on Methods and Models in Automation and Control (MMAR'2012) Międzyzdroje, Poland Search in Google Scholar

Rybus, T., Seweryn, K., Oleś, J., Basmadji, F.L., Tarenko, K., Moczydłowski, R., Barciński, T., Kindracki, J., Mężyk, Ł., Paszkiewicz, P., Wolański, P. (2019) Application of a planar air-bearing microgravity simulator for demonstration of operations required for an orbital capture with a manipulator. Acta Astronautica, Vol. 155, 211–229. RybusT. SewerynK. OleśJ. BasmadjiF.L. TarenkoK. MoczydłowskiR. BarcińskiT. KindrackiJ. MężykŁ. PaszkiewiczP. WolańskiP. 2019 Application of a planar air-bearing microgravity simulator for demonstration of operations required for an orbital capture with a manipulator Acta Astronautica 155 211 229 Search in Google Scholar

Seweryn, K., Banaszkiewicz, M. (2008) Optimization of the trajectory of a general free-flying manipulator during the rendezvous maneuver. Proc. AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA-GNC’2008), Honolulu, HI, USA. SewerynK. BanaszkiewiczM. 2008 Optimization of the trajectory of a general free-flying manipulator during the rendezvous maneuver Proc. AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA-GNC’2008) Honolulu, HI, USA Search in Google Scholar

Shan, M., Guo, J., Gill, E. (2016) Review and comparison of active space debris capturing and removal methods. Progress in Aerospace Sciences, Vol. 80, 18–32. ShanM. GuoJ. GillE. 2016 Review and comparison of active space debris capturing and removal methods Progress in Aerospace Sciences 80 18 32 Search in Google Scholar

Tasker, F., Henshaw, C. (2008) Managing contact dynamics for orbital robotic servicing missions. Proc. AIAA SPACE 2008 Conference & Exposition (AIAA SPACE'2008), San Diego, CA, USA. TaskerF. HenshawC. 2008 Managing contact dynamics for orbital robotic servicing missions Proc. AIAA SPACE 2008 Conference & Exposition (AIAA SPACE'2008) San Diego, CA, USA Search in Google Scholar

Uyama, N., Nakanishi, H., Nagaoka, K., Yoshida, K. (2012) Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems 2012 (IROS'2012), Vilamoura-Algarve, Portugal. UyamaN. NakanishiH. NagaokaK. YoshidaK. 2012 Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems 2012 (IROS'2012) Vilamoura-Algarve, Portugal Search in Google Scholar

Villani, L., De Schutter, J. (2016) Force control, Springer handbook of robotics, eds. Siciliano, B., Khatib, O., Springer, Cham, 195–220. VillaniL. De SchutterJ. 2016 Force control Springer handbook of robotics eds. SicilianoB. KhatibO. Springer Cham 195 220 Search in Google Scholar

Wang, J., Li, Y. (2010) Hybrid impedance control of a 3-DOF robotic arm used for rehabilitation treatment. Proc. IEEE International Conference on Automation Science and Engineering 2010 (CASE'2010), Toronto, Canada. WangJ. LiY. 2010 Hybrid impedance control of a 3-DOF robotic arm used for rehabilitation treatment Proc. IEEE International Conference on Automation Science and Engineering 2010 (CASE'2010) Toronto, Canada Search in Google Scholar

Wilde, M., Kwok Choon, S., Grompone, A., Romano, M. (2018) Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer’s Tutorial, Frontiers in Robotics and AI, Vol. 5, No. 41, doi: 10.3389/frobt.2018.00041. WildeM. Kwok ChoonS. GromponeA. RomanoM. 2018 Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer’s Tutorial Frontiers in Robotics and AI 5 41 10.3389/frobt.2018.00041 Open DOISearch in Google Scholar

Wu, S., Mou, F., Ma, O. (2017) Contact dynamics and control of a space manipulator capturing a rotating object. Proc. AIAA Guidance, Navigation, and Control Conference (AIAA GNC'2017), Grapevine, TX, USA. WuS. MouF. MaO. 2017 Contact dynamics and control of a space manipulator capturing a rotating object Proc. AIAA Guidance, Navigation, and Control Conference (AIAA GNC'2017) Grapevine, TX, USA Search in Google Scholar

eISSN:
2083-6104
Language:
English
Publication timeframe:
4 times per year
Journal Subjects:
Geosciences, other