Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty

@article{Abiko2006ImpedanceCF,
  title={Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty},
  author={Satoko Abiko and Roberto Lampariello and Gerd Hirzinger},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2006},
  pages={1020-1025}
}
This paper addresses an impedance control for a free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, considering the grasped target as a disturbance force on the end-effector, the proposed control method is completely independent of the target inertial parameters and the end-effector can follow a given trajectory in the… CONTINUE READING

Citations

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CITES BACKGROUND

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