This paper presents a control scheme for interaction torque control through impedance control at the interface of the end-effector and the environment. The impedance control is achieved by introduction of passive degrees of freedom (DOF) in the controller of the robotic system. Due to the interaction between the robot tip and the environment, the interaction torques act on the tip which gets transmitted through links to the base of the vehicle and the orientation of the vehicle changes. The orientation is restored back to the initial value using a reaction wheel as an attitude controller. The behavior of the space robot with torque and attitude controller is discussed.
Raibert, M., and Craig, J.1981. Hybrid position/force control of manipulators. ASME Journal of Dynamic Systems, Measurement, and Control102(2):126-133.
2.
Tsujita, K., K. Tsuchiya, H. and Kawano.2000 . A force control of a space manipulator. Journal of Robotics and Mechatronics, 12(4):351-356.
3.
Colbaugh, R., H. Seraji, and K. Glass.1992. Impedance Control for Dexterous Space Manipulators. In Proceedings of the 31st Conference on Decision and Control, Tucson, Arizona, pp 1881- 1886.
4.
Nenchev, D.N. , and K. Yoshida.1999. Impact Analysis and Post - Impact Motion Control Issues of a Free-Floating Space Robot Subject to a Force Impulse. In IEEE Transactions on Robotics and Automation , 15(3):548-557.
5.
Valency, T. , and M. Zacksenhouse.2003. Accuracy/robustness dilemma in impedance control. ASME Journal of Dynamic Systems, Measurement, and Control, 125:310-319.
6.
Wee, L-B. , and M.W. Walker.1993. On the Dynamics of Contact between Space Robots and Configuration Control for Impact Minimization . In IEEE Transactions on Robotics and Automation, 9(5), pp 581-591.
7.
Moosavian, S. , A. Ali , and E. Papadopoulos.1997. On the Control of Space Free-Flyers using Multiple Impedance Control. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation , Albuquerque, New Mexico, pp 853-858.
8.
Park, H., and J.M. Lee.2004. Adaptive impedance control of a haptic interface. Mechatronics, 14:237-253.
9.
Davis, H., and W. Book.1997. Torque Control of a Redundantly Actuated Passive Manipulator. In Proceedings of the American Control Conference, Albuquerque, New Mexico, pp 959-963.
10.
Tholey, G. , T. Chanthasopeephan, T. Hu, J.P. Desai, and A. Lau.2003. Measuring grasping and cutting forces for reality-based haptic modeling. International Congress Series, 1256:794-800.
11.
Pathak P. M., A. Mukherjee, and A. Dasgupta.2005. Impedance control of space robots using passive degrees of freedom in controller domain. ASME Journal of Dynamic Systems, Measurement, and Control, 127:564-578.
12.
Mukherjee, A. , R. Karmakar, and A.K. Samantaray.2006. Bond Graph in Modeling, Simulation and Fault Identification. New Delhi: I. K. International Publishing House Pvt. Ltd.
13.
Karnopp, D.C. , D.L. Margolis, and R.C. Rosenberg.1990. System Dynamics: A Unified Approach. New York: Wiley.
14.
Users Manual of SYMBOLS Shakti. 2006. http://www.htcinfo. com/, High-Tech Consultants, S.T.E.P., Indian Institute of Technology, Kharagpur.
15.
Kumar, C.S.1994. Shaping the Interaction Behavior of Manipulators through Additional Passive Degrees ofFreedom: A New approach to Impedance Control. Ph.D. thesis, I. I. T., Kharagpur .
16.
Colgate, J.E.1988. The Control of Dynamically Interacting Systems. Ph.D. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.
17.
Pathak, P.M. , S. Verma, T. Singh, and V.S. Vaish.2006. Error Analysis of Trajectory Controller For Space Robots. In Proceedings of First International & 22nd All India Manufacturing Technology Design & Research Conference (22nd AIMTDR), IIT Roorkee, pp 111-116.
18.
Hogan, N.1985. Impedance control: an approach to manipulation: Part I-III. ASME Journal of Dynamic Systems, Measurement, and Control, 107(1):1-24.
19.
Oda, M., and Y. Ohkami.1997. Coordinated control of spacecraft attitude and space manipulators. Control Engineering Practice, 5(1):11-21.
20.
Pathak, P.M.2004. Strategies for Trajectory, Attitude, and Impedance Control of Space Robots. Ph.D. thesis, Department of Mechanical Engineering, I. I. T., Kharagpur .
