☆ 4.6 Article

Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

CHINESE JOURNAL OF MECHANICAL ENGINEERING (2022)

相关参考文献

注意：仅列出部分参考文献，下载原文获取全部文献信息。

Article Engineering, Aerospace

A machine learning strategy for optimal path planning of space robotic manipulator in on-orbit servicing

Rogerio R. Santos et al.

Summary: This study addresses the problem of automatic path planning for a manipulator-like spacecraft. It proposes a multiobjective optimization formulation based on optimal control and off-line establishment of optimal trajectories, considering multiple aspects of motion. The study analyzes the effects of manipulator mass and evaluates the effects of multiple objectives on the optimal path, such as satellite displacement, arm manipulability, and maximum torque.

ACTA ASTRONAUTICA (2022)

添加到收藏夹

Article Engineering, Aerospace

Robust control of a dual-arm space robot for in-orbit screw-driving operation

Xiaoyi Wang et al.

Summary: This paper proposes an automatic in-orbit screw-driving strategy carried out by a dual-arm space robot, which delivers the desired contact forces using a hybrid position/force control strategy and controls the base attitude using reaction wheels. The simulation results demonstrate the feasibility of this strategy.

ACTA ASTRONAUTICA (2022)

添加到收藏夹

Article Engineering, Aerospace

Motion planning of a free-flying space robot system under end effector task constraints

Wei Zhang et al.

Summary: This study focuses on the motion planning of a free-flying space robot system with non-conserved linear and angular momentums. A motion planning strategy is proposed to perform trajectory tracking of the end effector, optimizing the system control inputs and joint accelerations. The effectiveness of the proposed method is demonstrated through numerical simulations under different task constraints.

ACTA ASTRONAUTICA (2022)

添加到收藏夹

Article Engineering, Aerospace

Grasping force optimization for dual-arm space robot after capturing target based on task compatibility

Yiqun Zhou et al.

Summary: This paper presents the GFO method for dual-arm space robot after capturing the target, formulating the problem as a convex optimization problem considering friction constraints and generalized input constraints. A convenient method based on the concept of task compatibility is proposed to obtain the initial value and decouple the input constraints, and the line search method based on eigenvalue analysis is adopted to determine the step size.

ADVANCES IN SPACE RESEARCH (2022)

添加到收藏夹

Article Computer Science, Interdisciplinary Applications

Contact force and torque sensing for serial manipulator based on an adaptive Kalman filter with variable time period

Feng Cao et al.

Summary: The paper proposes a new method for joint torque estimation in robotic manipulators, utilizing a mode-switching moving average to continuously adjust the filter time period for optimal tradeoff between response time and estimation precision in real-time. This method combines an adaptive Kalman filter with calibration routines, enabling force and torque estimation without the need for force/torque sensors. The proposed approach reduces estimation errors and response time, particularly as payload increases.

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING (2021)

添加到收藏夹

Article Robotics

Compliant Floating-Base Control of Space Robots

Alessandro Massimo Giordano et al.

Summary: This letter presents a compliant feedback controller for an arm-equipped spacecraft, which allows stable robotic operations without enforcing requirements on spacecraft position and attitude. The controller eliminates system instability during steady contact, making it suitable for realistic applications. It achieves post-contact stability through regulation of end-effector compliance, whole-body Center-of-Mass and angular momentum, and stable contact phase using force feedback.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

添加到收藏夹

Article Automation & Control Systems

A force and moment compensation method for a hardware-in-the-loop docking simulator based on the stiffness identification of the docking mechanism

Yan Hu et al.

Summary: This paper introduces a force and moment compensation approach to achieve high-fidelity simulation for a six degree-of-freedom docking simulator by addressing distortion sources such as time lag, motion lag, and structural deformation. The stiffness identification of the docking mechanism is a key step in the compensation process, allowing real-time determination of the mechanism's stiffness separate from simulator structural stiffness. Experimental results demonstrate the effectiveness of the proposed compensation method in achieving high-fidelity simulation for the docking simulator.

MECHATRONICS (2021)

添加到收藏夹

Article Robotics

A Passivity-Based Approach for Simulating Satellite Dynamics With Robots: Discrete-Time Integration and Time-Delay Compensation

Marco De Stefano et al.

IEEE TRANSACTIONS ON ROBOTICS (2020)

添加到收藏夹

Article Automation & Control Systems

Suboptimal adaptive Kalman filtering based on the proportional control of prior error covariance

Jiaolong Wang et al.

ISA TRANSACTIONS (2020)

添加到收藏夹

Article Engineering, Aerospace

Ground experiment on rendezvous and docking with a spinning target using multistage control strategy

Zhengtao Wei et al.

AEROSPACE SCIENCE AND TECHNOLOGY (2020)

添加到收藏夹

Article Robotics

A variable admittance control strategy for stable physical human-robot interaction

Federica Ferraguti et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2019)

添加到收藏夹

Review Engineering, Aerospace

On-orbit service (OOS) of spacecraft: A review of engineering developments

Wei-Jie Li et al.

PROGRESS IN AEROSPACE SCIENCES (2019)

添加到收藏夹

Article Engineering, Mechanical

Dynamics and control of a 7-DOF hybrid manipulator for capturing a non-cooperative target in space

Jun He et al.

MECHANISM AND MACHINE THEORY (2019)

添加到收藏夹

Proceedings Paper Automation & Control Systems

Admittance Control for Human-Robot Interaction Using an Industrial Robot Equipped with a F/T Sensor

Eleonora Mariotti et al.

2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) (2019)

添加到收藏夹

Article Robotics

Normal contact stiffness identification-based force compensation for a hardware-in-the-loop docking simulator

Qian Wang et al.

ADVANCED ROBOTICS (2018)

添加到收藏夹

Article Engineering, Mechanical

Kinematic calibration of a 6-DOF parallel manipulator based on identifiable parameters separation (IPS)

Yan Hu et al.

MECHANISM AND MACHINE THEORY (2018)

添加到收藏夹

Article Robotics

Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot

Roberto Lampariello et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2018)

添加到收藏夹

Article Automation & Control Systems

Smith predictor based delay compensation for a hardware-in-the-loop docking simulator

Chenkun Qi et al.

MECHATRONICS (2016)

添加到收藏夹

Article Engineering, Multidisciplinary

Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space

Feng Gao et al.

SCIENCE CHINA-TECHNOLOGICAL SCIENCES (2016)

添加到收藏夹

Article Engineering, Aerospace

Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking

Ou Ma et al.

ACTA ASTRONAUTICA (2012)

添加到收藏夹

Article Automation & Control Systems

Seam Tracking Monitoring Based on Adaptive Kalman Filter Embedded Elman Neural Network During High-Power Fiber Laser Welding

Xiangdong Gao et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2012)

添加到收藏夹

Article Robotics

Delay Time Compensation for a Hybrid Simulator

Kohei Osaki et al.

ADVANCED ROBOTICS (2010)

添加到收藏夹

Article Robotics

Contact stiffness and damping estimation for robotic systems

D Erickson et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2003)

添加到收藏夹

© Peeref 2019-2024. All rights reserved.