On Controller parametric sensitivity of passive object handling in space by robotic servicers

A planning and control methodology for manipulating passive objects using orbital servicers in zero gravity has been developed by the authors. In this work, a parametric sensitivity analysis of the proposed model-based control for the motion of the passive object, in terms of parametric uncertaintie...

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Bibliographic Details
Published in2014 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2349 - 2354
Main Authors Rekleitis, Georgios, Papadopoulos, Evangelos
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2014
Subjects
controller parameter sensitivity
Force
free-flying cooperative robots
object manipulation on orbit
Robots
Space robotics
Steady-state
Tracking
Trajectory
Uncertainty
Vectors
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Summary:A planning and control methodology for manipulating passive objects using orbital servicers in zero gravity has been developed by the authors. In this work, a parametric sensitivity analysis of the proposed model-based control for the motion of the passive object, in terms of parametric uncertainties, is presented. A linearization methodology is used to provide a scheme with which the controller robust behavior, in terms of parametric uncertainty, can be ascertained a-priori, without the need of running experiments. The system robust performance is illustrated in realistic 3D scenarios and verified via simulations.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2014.6942880