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TECHNICAL PAPERS

Impedance Control of Space Robots Using Passive Degrees of Freedom in Controller Domain

[+] Author and Article Information
Pushpraj Mani Pathak

 Indira Gandhi Engineering College, Sagar, 474004, Indiapushp_pathak@yahoo.com

Amalendu Mukherjee

Mechanical Engineering Department, Indian Institute of Technology, Kharagpur, 721302, Indiaamalendu@mech.iitkgp.ernet.in

Anirvan Dasgupta

Mechanical Engineering Department, Indian Institute of Technology, Kharagpur, 721302, Indiaanir@mech.iitkgp.ernet.in

J. Dyn. Sys., Meas., Control 127(4), 564-578 (Mar 09, 2005) (15 pages) doi:10.1115/1.2098894 History: Received January 08, 2004; Revised March 09, 2005

Impedance control is an efficient and stable method of providing trajectory and force control in robotic systems. The procedure by which the impedance of the manipulator is changed is a very important aspect in the design of impedance based control schemes. In this work, a scheme is presented in which the control of impedance at the interface of the end effector and the space structure is achieved by introduction of a passive degree of freedom (DOF) in the controller of the robotic system. The impedance is shown to depend upon a compensation gain for the dynamics of the passive DOF. To illustrate the methodology, an example of a two DOF planer space robot is considered.

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Copyright © 2005 by American Society of Mechanical Engineers
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Figures

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Figure 1

(a) Mechanical equivalent of overwhelming controller. (b) Bond graph of overwhelming controller.

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Figure 2

(a) Bond graph of realizable overwhelming controller. (b) Physical equivalent overwhelming controller system. (c) Modified bond graph for the realizable overwhelming controller. (d) Modified bond graph for the realizable overwhelming controller with pad.

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Figure 3

(a) Single DOF robot on flexible foundation. (b) Bond graph of robot on flexible foundation interacting with environment.

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Figure 4

Bond graph of robot with flexible foundation in controller domain

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Figure 5

(a) Schematic diagram of one translational DOF space robot with virtual foundation in controller domain. (b) Bond graph model of one translational DOF space robot with virtual foundation in controller.

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Figure 6

Schematic diagram of two DOF space robot on virtual torsional foundation

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Figure 7

Bond graph modeling of a two DOF planer space robot

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Figure 8

Bond graph modeling of a two DOF planer space robot controller

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Figure 9

Bond graph of the foundation and controller coupling

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Figure 10

(a) Plot of reference and actual tip Y displacement versus reference X displacement. (b) Plot of reference and actual tip Y displacement versus time. (c) Plot of contact force versus time. (d) Plot of compensation gain versus time. (e) Plot of CM of base. (f) Plot of Base rotation versus time.

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Figure 11

(a) Animation of space robot for first cycle. (b) Animation of space robot for second cycle.

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