Task space control for on-orbit space robotics using a new ROS-based framework

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dc.contributor.authorRamón, José Luis
dc.contributor.authorPomares, Jorge
dc.contributor.authorFelicetti, Leonard
dc.date.accessioned2023-06-26T13:56:13Z
dc.date.available2023-06-26T13:56:13Z
dc.date.issued2023-06-17
dc.description.abstractThis paper proposes several task space control approaches for complex on-orbit high degrees of freedom robots. These approaches include redundancy resolution and take the non-linear dynamic model of the on-orbit robotic systems into account. The suitability of the proposed task space control approaches is explored in several on-orbit servicing operations requiring visual servoing tasks of complex humanoid robots. A unified open-source framework for space-robotics simulations, called OnOrbitROS, is used to evaluate the proposed control systems and compare their behaviour with state-of-the-art existing ones. The adopted framework is based on ROS and includes and reproduces the principal environmental conditions that eventual space robots and manipulators could experience in an on-orbit servicing scenario. The architecture of the different software modules developed and their application on complex space robotic systems is presented. Efficient real-time implementations are achieved using the proposed OnOrbitROS framework. The proposed controllers are applied to perform the guidance of a humanoid robot. The robot dynamics are integrated into the definition of the controllers and an analysis of the results and practical properties are described in the results section.en_UK
dc.identifier.citationRamón JL, Pomares J, Felicetti L. (2023) Task space control for on-orbit space robotics using a new ROS-based framework. Simulation Modelling Practice and Theory, Volume 127, September 2023, Article number 102790en_UK
dc.identifier.issn1569-190X
dc.identifier.urihttps://doi.org/10.1016/j.simpat.2023.102790
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/19893
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectRobot controlen_UK
dc.subjectSpace manipulatoren_UK
dc.subjectSpace roboticsen_UK
dc.titleTask space control for on-orbit space robotics using a new ROS-based frameworken_UK
dc.typeArticleen_UK

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