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

Satoko Abiko, Gerd Hirzinger

研究成果: Conference contribution

25 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
ページ847-852
ページ数6
DOI
出版物ステータスPublished - 2007
外部発表Yes
イベント2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
継続期間: 2007 10 292007 11 2

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
United States
San Diego, CA
期間07/10/2907/11/2

Fingerprint

Barreling
Angular momentum
Momentum
Robots
Wheels
Stabilization
Trajectories
Computer simulation
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering

これを引用

Abiko, S., & Hirzinger, G. (2007). 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 (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.

研究成果: Conference 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. : 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. : 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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