Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator
In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces between the manipulator end-effector and the elements of the target object will occur in the grasping phase. In this paper, an active 6 Degrees o...
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Veröffentlicht in: | Artificial satellites 2023-12, Vol.58 (1), p.214-229 |
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creator | Dyba, Filip Rybus, Tomasz Wojtunik, Mateusz Basmadji, Fatina Liliana |
description | In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces between the manipulator end-effector and the elements of the target object will occur in the grasping phase. In this paper, an active 6 Degrees of Freedom (DoF) force/torque control method for manipulator mounted on a free-floating servicing satellite is proposed. The main aim of the presented method is to balance the relation between end-effector position and force along each direction in the Cartesian space. The control law is based on the Dynamic Jacobian, which takes into account the influence of the manipulator motion on the state of the servicing satellite. The proposed approach is validated in numerical simulations with a simplified model of contact. Comparison with the classical Cartesian control shows that the active 6 DoF force/torque control method allows to obtain better positioning accuracy of the end-effector and lower control torques in manipulator joints in the presence of external forces. |
doi_str_mv | 10.2478/arsa-2023-0024 |
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Rybus, Tomasz ; Wojtunik, Mateusz ; Basmadji, Fatina Liliana</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c246t-8f490b72a7c5f6ae0f06c137abebd128d69fcabcb920279a3c076a6c328cb1d33</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Active control</topic><topic>active force/torque control</topic><topic>Artificial satellites</topic><topic>capture manoeuvre</topic><topic>Cartesian coordinates</topic><topic>Contact force</topic><topic>Control algorithms</topic><topic>Control methods</topic><topic>Control theory</topic><topic>Degrees of freedom</topic><topic>Dynamic Jacobian</topic><topic>End effectors</topic><topic>free-floating manipulator</topic><topic>in-orbit servicing</topic><topic>Manipulators</topic><topic>Mathematical models</topic><topic>Robot arms</topic><topic>Satellites</topic><topic>Simulation</topic><topic>Torque</topic><topic>Velocity</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Dyba, Filip</creatorcontrib><creatorcontrib>Rybus, Tomasz</creatorcontrib><creatorcontrib>Wojtunik, Mateusz</creatorcontrib><creatorcontrib>Basmadji, Fatina Liliana</creatorcontrib><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>Agricultural & Environmental Science Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>Natural Science Collection</collection><collection>Earth, Atmospheric & Aquatic Science Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>Engineering Research Database</collection><collection>ProQuest Central Student</collection><collection>Aerospace Database</collection><collection>SciTech Premium Collection</collection><collection>Civil Engineering Abstracts</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Engineering Database</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>Environmental Science Database</collection><collection>Earth, Atmospheric & Aquatic Science Database</collection><collection>Publicly Available Content Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>Engineering Collection</collection><collection>Environmental Science Collection</collection><jtitle>Artificial satellites</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Dyba, Filip</au><au>Rybus, Tomasz</au><au>Wojtunik, Mateusz</au><au>Basmadji, Fatina Liliana</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator</atitle><jtitle>Artificial satellites</jtitle><date>2023-12-01</date><risdate>2023</risdate><volume>58</volume><issue>1</issue><spage>214</spage><epage>229</epage><pages>214-229</pages><issn>2083-6104</issn><issn>1509-3859</issn><eissn>2083-6104</eissn><abstract>In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces between the manipulator end-effector and the elements of the target object will occur in the grasping phase. In this paper, an active 6 Degrees of Freedom (DoF) force/torque control method for manipulator mounted on a free-floating servicing satellite is proposed. The main aim of the presented method is to balance the relation between end-effector position and force along each direction in the Cartesian space. The control law is based on the Dynamic Jacobian, which takes into account the influence of the manipulator motion on the state of the servicing satellite. The proposed approach is validated in numerical simulations with a simplified model of contact. 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subjects | Active control active force/torque control Artificial satellites capture manoeuvre Cartesian coordinates Contact force Control algorithms Control methods Control theory Degrees of freedom Dynamic Jacobian End effectors free-floating manipulator in-orbit servicing Manipulators Mathematical models Robot arms Satellites Simulation Torque Velocity |
title | Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator |
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