Abstract:
In this paper, the contact motion between rigid body systems floating in space is formulated and dynamic conditions are investigated in order to capture a non-cooperative...Show MoreMetadata
Abstract:
In this paper, the contact motion between rigid body systems floating in space is formulated and dynamic conditions are investigated in order to capture a non-cooperative satellite. As for the theoretical investigation, impedance matching is discussed for the case in which the robot hand under impedance control approaches and collides with a passive target, and a specific impedance value is defined to yield the matching. The impedance matching is understood to give a criteria if the contact is maintained with a target, or the target is pushed away. Experiments are carried out using two robot manipulators as a motion simulator of the chaser and target. Through the experiments, the concept of the impedance matching is verified, and a satellite capture operation is demonstrated using the strategy that an impedance controlled probe is inserted into the thruster nozzle cone of the target.
Published in: Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Date of Conference: 27-31 October 2003
Date Added to IEEE Xplore: 03 December 2003
Print ISBN:0-7803-7860-1
Department of Aerospace Engineering, University of Tohoku, Sendai, Japan
Department of Aerospace Engineering, University of Tohoku, Sendai, Japan
Department of Aerospace Engineering, University of Tohoku, Sendai, Japan
Department of Aerospace Engineering, University of Tohoku, Sendai, Japan