Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty

Satoko Abiko, Roberto Lampariello, Gerd Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

52 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1020-1025
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Abiko, S., Lampariello, R., & Hirzinger, G. (2006). Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1020-1025). [4058497] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281785