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Energy-based Control for Simulation of Multi-Body Dynamics using Robotic Facilities



Organizzato da ROBOMORE. Relatore: dott. Marco De Stefano. 

Abstract:

The use of spacecrafts equipped with robotic manipulators is recognized as a promising technology with two major applications. On one hand, to safely collect and de-orbit objects and thus mitigate the development of space debris; on the other hand, to repair and extend the lifetime of mal-functioning satellites.
One of the major difficulties to accomplish an on-orbit servicing mission is that it needs to be tested on-ground prior to the launch. Hence, a reliable simulator is required and must be capable of reproducing the microgravity conditions on ground in the most realistic manner. Robot-based facilities can effectively implement active gravity compensation and allow unconstrained motions within the robot workspace. The OOS-SIM is a state-of-the-art robotic facility developed in DLR and it is devoted to simulate on-orbit servicing missions. The set-up is based on industrial robots equipped with force-torque sensors to simulate satellite dynamics in space and interaction forces between different bodies. 
This presentation will outline the benefits and limitations of using such kind of robotic facilities which are controlled in admittance mode. In particular, it will be shown how the intrinsic time delays and further discretization effects found in the robot control loops can distort the simulated dynamics. These effects will be identified, isolated and addressed through different energy-based control strategies to ensure faithful dynamics simulation while preserving system stability.  Furthermore, novel impedance controllers for a space manipulator will be also presented and discussed.

Data inizio evento: 27/03/2019 11:45

Luogo: Aula 1.2, Padiglione Buccola-Bisi, Campus San Lazzaro, via G. Amendola 2, Reggio Emilia

Categorie: tecnologia, eventi, Seminario

Pubblicato da: comunicazione@unimore.it