TY - GEN
T1 - Virtual mass of impedance system for free-flying target capture
AU - Nakanishi, Hiroki
AU - Uyama, Naohiro
AU - Yoshida, Kazuya
PY - 2010
Y1 - 2010
N2 - This paper discusses the target motion around the contact in the satellite capture operation using a free-flying space robot. The contact force has the potential for pushing the target beyond the manipulator reach or making the target have a tumbling motion. An impedance control is useful to prevent the robot hand from pushing the target. However, the relationship between the dynamics parameters, contact characteristics, and target motion have not been clarified yet. In this paper, virtual mass of impedance system (VMI) model is proposed to represent the influence of the hand impedance on the target motion. Using this model, the condition to prevent the robot pushing the target away is clarified.
AB - This paper discusses the target motion around the contact in the satellite capture operation using a free-flying space robot. The contact force has the potential for pushing the target beyond the manipulator reach or making the target have a tumbling motion. An impedance control is useful to prevent the robot hand from pushing the target. However, the relationship between the dynamics parameters, contact characteristics, and target motion have not been clarified yet. In this paper, virtual mass of impedance system (VMI) model is proposed to represent the influence of the hand impedance on the target motion. Using this model, the condition to prevent the robot pushing the target away is clarified.
UR - http://www.scopus.com/inward/record.url?scp=78651518756&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651518756&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5649131
DO - 10.1109/IROS.2010.5649131
M3 - Conference contribution
AN - SCOPUS:78651518756
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 4101
EP - 4106
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -