Design of a virtual foundation for impedance control in a dual arm cooperative space robot

Author:

Patolia Haresh1,Pathak Pushparaj Mani1,Jain Satish C1

Affiliation:

1. Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India, 247667

Abstract

This work presents the design of virtual foundation through which impedance control is achieved in a dual arm space robot for cooperative manipulation of arms. A docking operation by the two arms of the space robot has been carried out. During this docking operation, the space robot has a mechanical interaction with the compliant objects which encounter force and motion constraints. The docking operation requires that the object must be gripped and follows a specific path to dock the selected object. By use of the virtual foundation, impedance control is achieved to fulfill both objectives, i.e. force control during gripping and trajectory control during docking. The space robot base compensation is designed to achieve the desired trajectory to control the interaction forces. The methodology has been validated with simulated results.

Publisher

SAGE Publications

Subject

Computer Graphics and Computer-Aided Design,Modeling and Simulation,Software

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Impedance control in multiple cooperative space robots pulling a flexible wire;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2018-06-27

2. Adaptive Impedance Control for Docking of Space Robotic Arm Based on Its End Force/Torque Sensor;Intelligent Autonomous Systems 14;2017

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