TY - GEN
T1 - Manipulation control of a space robot with flexible solar panels
AU - Zarafshan, Payam
AU - Moosavian, S. Ali A.
PY - 2010
Y1 - 2010
N2 - Dynamics and control of a space robotic system with flexible appendages during a docking operation is studied here. Flexible appendages such as solar panels of a space free flying robotic system during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbances on the moving base, which in turn produces error in the position and speed of the manipulating end-effectors. In this paper, first the system dynamics is partitioned into two rigid and flexible bodies' motion, and a practical model for control implementations on compounded rigid-flexible multi-body systems is developed. Then, based on a designed path/trajectory for a space robotic system, the multiple impedance control and the augmented object model algorithm are extended to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Finally, a space free flying robotic system is simulated during a docking operation which contains two 2-DOF planar manipulators, and a rotating antenna and a camera as its third and fourth arms, appended with two solar panels. Obtained results reveal the merits of the proposed model and developed controllers which will be discussed.
AB - Dynamics and control of a space robotic system with flexible appendages during a docking operation is studied here. Flexible appendages such as solar panels of a space free flying robotic system during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbances on the moving base, which in turn produces error in the position and speed of the manipulating end-effectors. In this paper, first the system dynamics is partitioned into two rigid and flexible bodies' motion, and a practical model for control implementations on compounded rigid-flexible multi-body systems is developed. Then, based on a designed path/trajectory for a space robotic system, the multiple impedance control and the augmented object model algorithm are extended to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Finally, a space free flying robotic system is simulated during a docking operation which contains two 2-DOF planar manipulators, and a rotating antenna and a camera as its third and fourth arms, appended with two solar panels. Obtained results reveal the merits of the proposed model and developed controllers which will be discussed.
KW - Augmented object model
KW - Flexibility
KW - Multiple impedance control
KW - Object manipulation
KW - Space robot
UR - http://www.scopus.com/inward/record.url?scp=79951657884&partnerID=8YFLogxK
U2 - 10.1109/AIM.2010.5695818
DO - 10.1109/AIM.2010.5695818
M3 - Conference Paper
SN - 9781424480319
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1099
EP - 1104
BT - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
T2 - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Y2 - 6 July 2010 through 9 July 2010
ER -