This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Scopus Google Scholar Articles by Pushparaj Mani Pathak Articles by Dasgupta, A. Social Bookmarking                         What's this?

Interaction Torque Control by Impedance Control of Space Robots

Mechanical and Industrial Engineering Department Indian Institute of Technology, Roorkee, India, pushpfme{at}iitr.ernet.in

Amalendu Mukherjee

Mechanical Engineering Department Indian Institute of Technology, Kharagpur, India

Anirvan Dasgupta

Mechanical Engineering Department Indian Institute of Technology, Kharagpur, India

This paper presents a control scheme for interaction torque control through impedance control at the interface of the end-effector and the environment. The impedance control is achieved by introduction of passive degrees of freedom (DOF) in the controller of the robotic system. Due to the interaction between the robot tip and the environment, the interaction torques act on the tip which gets transmitted through links to the base of the vehicle and the orientation of the vehicle changes. The orientation is restored back to the initial value using a reaction wheel as an attitude controller. The behavior of the space robot with torque and attitude controller is discussed.

Key Words: impedance control • space robots • virtual foundation

SIMULATION, Vol. 85, No. 7, 451-459 (2009)
DOI: 10.1177/0037549709102824


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?