On-orbit free-floating manipulation using a two-arm robotic system

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dc.contributor.authorRamón, José Luis
dc.contributor.authorPomares, Jorge
dc.contributor.authorFelicetti, Leonard
dc.date.accessioned2021-11-02T09:29:07Z
dc.date.available2021-11-02T09:29:07Z
dc.date.issued2021-10-27
dc.description.abstractA direct visual-servoing algorithm is proposed for the control of a space-based two-arm manipulator. The scenario under consideration assumes that one of the arms performs the manipulation task while the second one has an in-hand camera to observe the target zone of manipulation. The algorithm uses both the camera images and the force/torque measurements as inputs to calculate the control action to move the arms to perform a manipulation task. The algorithm integrates the multibody dynamics of the robotic system in a visual servoing framework that uses de-localized cameras. Impedance control is then used to compensate for eventual contact reactions when the end effector touches and operates the target body. Numerical results demonstrate the suitability of the proposed algorithm in specific tasks used in on-orbit servicing operations.en_UK
dc.identifier.citationRamon JL, Pomares J, Felicetti L. (2021) On-orbit free-floating manipulation using a two-arm robotic system. In: ROBOVIS 2021: 2nd International Conference on Robotics, Computer Vision and Intelligent Systems, 27-28 October 2021, Virtual Eventen_UK
dc.identifier.urihttps://www.insticc.org/node/TechnicalProgram/ROBOVIS/2021/presentationDetails/107121
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/17226
dc.language.isoenen_UK
dc.publisherSciTePress - Science and Technology Publications en_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectDual-Arm Manipulatoren_UK
dc.subjectSpace Roboticsen_UK
dc.subjectOn-Orbit Servicingen_UK
dc.subjectVisual Servoingen_UK
dc.subjectImpedance Controlen_UK
dc.titleOn-orbit free-floating manipulation using a two-arm robotic systemen_UK
dc.typeConference paperen_UK

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