Inicio  /  Aerospace  /  Vol: 9 Par: 8 (2022)  /  Artículo
ARTÍCULO
TITULO

Impedance Control Using Selected Compliant Prismatic Joint in a Free-Floating Space Manipulator

Piotr Palma    
Karol Seweryn and Tomasz Rybus    

Resumen

The success of space missions like capture-and-deorbit or capture-and-service relies on the ability of the capturing satellite to establish a stable mechanical connection by its gripping tool with the object being intercepted. Most of the potential objects of capture missions are not equipped with dedicated docking ports; hence, the satellite robot intercepting them will have to provide the mechanical compliance necessary for the safe establishment of contact between the two structures. Articulated robotic arms with controlled mechanical impedance are one set of promising solutions for this challenge. In this study, the authors discuss how the mechanical impedance realized only along a single axis can be useful for facilitating the contact between the manipulator arm?s end effector of a free-floating robot and an uncooperative object in microgravity. By distinguishing a dominant direction in the final approach and contact establishment maneuver, the need for impedance control of six degrees of freedom may be relaxed, and a single prismatic joint with controlled impedance can be used at the end effector. Such architecture is simulated and compared with the full model-based six-degree-of-freedom Cartesian impedance control of a free-floating manipulator. Authors then discuss the limitations and possibilities of such architecture in a potential practical setting.

 Artículos similares

       
 
Spencer Funk, Ali Shahbaz Haider, Kush Bubbar and Brad Buckham    
Mooring systems are a critical component of all floating wave energy converter (WEC) systems, yet the impact of amooring system on the WEC dynamics is often neglected during the initial assessment of candidate designs. The purpose of this study was to in... ver más

 
Yuan Liu, Jian Tang, Chen Feng, Chen Zhang, Yuwei Xue, Lei Zhang, Shuxi Xu, Jian Wang, Fang Dai and Ning Wang    
Based on equal precision frequency measurement and pulse counting technique, a multi-period synchronous frequency measurement method is proposed in this paper. A programmed cymometer is designed with a full frequency band with equal precision measurement... ver más
Revista: Applied Sciences

 
Jinzhu Shi, Lihui Yang and Hao Yang    
As a common interface circuit for renewable energy integrated into the power grid, the inverter is prone to work under a three-phase unbalanced weak grid. In this paper, the instability of grid-connected inverters under the unbalanced grid condition is i... ver más
Revista: Applied Sciences

 
Julia Nako, Costas Psychalinos and Ahmed S. Elwakil    
A generalized structure for implementing fractional-order controllers is introduced in this paper. This is achieved thanks to the consideration of the controller transfer function as a ratio of integer and non-integer impedances. The non-integer order im... ver más

 
Rostislav A. Filippov, Alexei Solovchenko, Dmitry Khort, Igor G. Smirnov, Alexey I. Kutyrev, Roman V. Pobedonostsev and Denis V. Yanykin    
Electroimpedance spectroscopy technology can be used to accelerate the healing of complete trees and estimate the plant condition after grafting. This approach will allow sorting out low-vigor plants at the early stages of their development to save time ... ver más
Revista: Applied Sciences