research-article

Force control in single DOF dual arm cooperative space robot

Authors:

Haresh Patolia,

S. C. JainAuthors Info & Claims

SpringSim '10: Proceedings of the 2010 Spring Simulation Multiconference

Article No.: 201, Pages 1 - 8

https://doi.org/10.1145/1878537.1878747

Published: 11 April 2010 Publication History

Abstract

This work presents force control in single degree of freedom dual arm space robot for cooperative manipulation by two arms. A docking operation by the two arms of the space manipulator has been carried out. During docking operation, space robot requires mechanical interaction with compliant objects, which encounter force and motion constraints. The gripping force should be such that the object should not slip and at the same time there is a limit on the maximum force to prevent the object from crushing. Apart from this the docking operation requires that the gripped object follows a specific path to dock the picked object. The work uses the concept of impedance control to achieve both the objectives, i.e. force control during gripping and trajectory control during docking. The methodology has been validated with simulated results.

References

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Digital Library

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Cited By

Wang YGong KDuan YHe BMa H(2023)Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)International Journal of Aerospace Engineering10.1155/2023/74352172023(1-14)Online publication date: 19-Apr-2023
https://doi.org/10.1155/2023/7435217
Gao HLu STian G(2013)Compliant Control for the Redundant Dual-Arm Live-Working RobotApplied Mechanics and Materials10.4028/www.scientific.net/AMM.459.177459(177-182)Online publication date: Oct-2013
https://doi.org/10.4028/www.scientific.net/AMM.459.177

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cover image ACM Other conferences

SpringSim '10: Proceedings of the 2010 Spring Simulation Multiconference

April 2010

1726 pages

ISBN:9781450300698

General Chairs:
Robert McGraw
RAM Laboratories, Inc
,
Eric Imsand
Auburn University
,
Program Chair:
Michael J. Chinni
US Army - RDECOM - ARDEC

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SCS: Society for Modeling and Simulation International

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SIGSIM: ACM Special Interest Group on Simulation and Modeling

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Society for Computer Simulation International

San Diego, CA, United States

Publication History

Published: 11 April 2010

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SpringSim '10: 2010 Spring Simulation Conference

April 11 - 15, 2010

Florida, Orlando

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Cited By

Wang YGong KDuan YHe BMa H(2023)Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)International Journal of Aerospace Engineering10.1155/2023/74352172023(1-14)Online publication date: 19-Apr-2023
https://doi.org/10.1155/2023/7435217
Gao HLu STian G(2013)Compliant Control for the Redundant Dual-Arm Live-Working RobotApplied Mechanics and Materials10.4028/www.scientific.net/AMM.459.177459(177-182)Online publication date: Oct-2013
https://doi.org/10.4028/www.scientific.net/AMM.459.177

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