On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty

Satoko Abiko, Gerd Hirzinger

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

25 Citations (Scopus)

Abstract

This paper addresses an on-line parameter adaptation for a momentum accumulation control of a space robot in the post-grasping of a tumbling target whose dynamic parameters are unknown a priori. The model inaccuracies in the target lead to an unexpected tumbling motion after grasping a target. It is desired to transfer the entire angular momentum to the reaction wheels as quickly as possible while stabilization trajectory of the robot-arm is tracked to avoid self-collision in the chaser-robot. Firstly, we derive a momentum control method from the angular momentum equation to accumulate the entire angular momentum into the reaction wheels. The parameter inaccuracies degrade the control performance. Then, an online adaptation law by using coupling force and momentum is proposed. A numerical simulation is carried out to verify the operational performance of the proposed method in the presence of model uncertainty.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages847-852
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

Fingerprint

Barreling
Angular momentum
Momentum
Robots
Wheels
Stabilization
Trajectories
Computer simulation
Uncertainty

Keywords

  • Free-floating space robot
  • Model uncertainty
  • Momentum control
  • On-line parameter adaptation

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Abiko, S., & Hirzinger, G. (2007). On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty. In IEEE International Conference on Intelligent Robots and Systems (pp. 847-852). [4399190] https://doi.org/10.1109/IROS.2007.4399190

On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty. / Abiko, Satoko; Hirzinger, Gerd.

IEEE International Conference on Intelligent Robots and Systems. 2007. p. 847-852 4399190.

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

Abiko, S & Hirzinger, G 2007, On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty. in IEEE International Conference on Intelligent Robots and Systems., 4399190, pp. 847-852, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 07/10/29. https://doi.org/10.1109/IROS.2007.4399190
Abiko S, Hirzinger G. On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty. In IEEE International Conference on Intelligent Robots and Systems. 2007. p. 847-852. 4399190 https://doi.org/10.1109/IROS.2007.4399190
Abiko, Satoko ; Hirzinger, Gerd. / On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty. IEEE International Conference on Intelligent Robots and Systems. 2007. pp. 847-852
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