Task space control for on-orbit space robotics using a new ROS-based framework
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Título: | Task space control for on-orbit space robotics using a new ROS-based framework |
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Autor/es: | Ramón, José L. | Pomares, Jorge | Felicetti, Leonard |
Grupo/s de investigación o GITE: | Human Robotics (HURO) |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Robot control | Space manipulator | Space robotics |
Fecha de publicación: | 11-jun-2023 |
Editor: | Elsevier |
Cita bibliográfica: | Simulation Modelling Practice and Theory. 2023, 127: 102790. https://doi.org/10.1016/j.simpat.2023.102790 |
Resumen: | This 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. |
URI: | http://hdl.handle.net/10045/135103 |
ISSN: | 1569-190X (Print) | 1878-1462 (Online) |
DOI: | 10.1016/j.simpat.2023.102790 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © 2023 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/). |
Revisión científica: | si |
Versión del editor: | https://doi.org/10.1016/j.simpat.2023.102790 |
Aparece en las colecciones: | INV - HURO - Artículos de Revistas |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
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Ramon_etal_2023_SimulatModelPractTheory.pdf | 8,34 MB | Adobe PDF | Abrir Vista previa | |
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