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
Hauptverfasser: Dyba, Filip, Rybus, Tomasz, Wojtunik, Mateusz, Basmadji, Fatina Liliana
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container_end_page 229
container_issue 1
container_start_page 214
container_title Artificial satellites
container_volume 58
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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source Walter De Gruyter: Open Access Journals; EZB-FREE-00999 freely available EZB journals
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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