Hybrid Control of Space Robot in On-Orbit Screw-Driving Operation

Lingling Shi; Jayantha Katupitiya; Nathan Michael Kinkaid

doi:10.1109/TAES.2017.2780558

Hybrid Control of Space Robot in On-Orbit Screw-Driving Operation

Lingling Shi^*, Jayantha Katupitiya, Nathan Michael Kinkaid

^*Corresponding author for this work

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

Controlled force-torque exertion by a small-scaled free-flying space robot will be potentially required for future on-orbit assembly missions. This paper presents a hybrid controller to achieve the desired end-effector motion and contact forces required for driving a screw into a floating target. Attitude of the spacecraft base is controlled simultaneously. Postcapture control to stabilize the entire system is also addressed in this paper. Simulation results have demonstrated the effectiveness of the proposed control laws.

Original language	English
Pages (from-to)	1253-1264
Number of pages	12
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	54
Issue number	3
DOIs	https://doi.org/10.1109/TAES.2017.2780558
Publication status	Published - Jun 2018

Keywords

Space robot
attitude regulation
force tracking
hybrid control
on-orbit servicing
postcapture control
screw-driving

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10.1109/TAES.2017.2780558

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title = "Hybrid Control of Space Robot in On-Orbit Screw-Driving Operation",

abstract = "Controlled force-torque exertion by a small-scaled free-flying space robot will be potentially required for future on-orbit assembly missions. This paper presents a hybrid controller to achieve the desired end-effector motion and contact forces required for driving a screw into a floating target. Attitude of the spacecraft base is controlled simultaneously. Postcapture control to stabilize the entire system is also addressed in this paper. Simulation results have demonstrated the effectiveness of the proposed control laws.",

keywords = "Space robot, attitude regulation, force tracking, hybrid control, on-orbit servicing, postcapture control, screw-driving",

author = "Lingling Shi and Jayantha Katupitiya and Kinkaid, {Nathan Michael}",

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AB - Controlled force-torque exertion by a small-scaled free-flying space robot will be potentially required for future on-orbit assembly missions. This paper presents a hybrid controller to achieve the desired end-effector motion and contact forces required for driving a screw into a floating target. Attitude of the spacecraft base is controlled simultaneously. Postcapture control to stabilize the entire system is also addressed in this paper. Simulation results have demonstrated the effectiveness of the proposed control laws.

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Hybrid Control of Space Robot in On-Orbit Screw-Driving Operation

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Keywords

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