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

47 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 publicationIEEE International Conference on Intelligent Robots and Systems
Pages1020-1025
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Other

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

Fingerprint

Barreling
End effectors
Robots
Trajectories
Computer simulation
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering

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 IEEE International Conference on Intelligent Robots and Systems (pp. 1020-1025). [4058497] https://doi.org/10.1109/IROS.2006.281785

Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty. / Abiko, Satoko; Lampariello, Roberto; Hirzinger, Gerd.

IEEE International Conference on Intelligent Robots and Systems. 2006. p. 1020-1025 4058497.

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

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 IEEE International Conference on Intelligent Robots and Systems., 4058497, pp. 1020-1025, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.281785
Abiko S, Lampariello R, Hirzinger G. Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty. In IEEE International Conference on Intelligent Robots and Systems. 2006. p. 1020-1025. 4058497 https://doi.org/10.1109/IROS.2006.281785
Abiko, Satoko ; Lampariello, Roberto ; Hirzinger, Gerd. / Impedance control for a free-floating robot in the grasping of a tumbling target with parameter uncertainty. IEEE International Conference on Intelligent Robots and Systems. 2006. pp. 1020-1025
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