Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots

This letter addresses the coordinated control of the spacecraft's attitude and the end-effector pose of a manipulator-equipped space robot. A controller is proposed to simultaneously regulate the spacecraft's attitude, the global center-of-mass, and the end-effector pose. The control is ba...

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Bibliographic Details
Published in:IEEE robotics and automation letters Vol. 4; no. 2; pp. 2108 - 2115
Main Authors: Giordano, Alessandro Massimo, Ott, Christian, Albu-Schaffer, Alin
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.04.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Actuation
Actuators
Aerospace electronics
Attitude control
Attitudes
compliance and impedance control
Degrees of freedom
dynamics
End effectors
motion control
Robot arms
Robot kinematics
Space robotics and automation
Space robots
Space vehicles
ISSN:2377-3766, 2377-3766
Online Access:Get full text
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Summary:This letter addresses the coordinated control of the spacecraft's attitude and the end-effector pose of a manipulator-equipped space robot. A controller is proposed to simultaneously regulate the spacecraft's attitude, the global center-of-mass, and the end-effector pose. The control is based on a triangular actuation decomposition that decouples the end-effector task from the spacecraft's force actuator, increasing fuel efficiency. The strategy is validated in hardware using a robotic motion simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a six DOF base. The tradeoff between control requirements and fuel consumption is discussed.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2019.2899433