In this paper we address the problem of controlling a robotic system mounted on an actuated floating base for space applications. In particular, we investigate the stability issues due to the low rate of the base control unit. We propose a passivity-based stabilizing controller based on the time domain passivity approach. The controller uses a variable damper regulated by a designed energy observer. The effectiveness of the proposed strategy is validated on a base-manipulator multibody simulation.
An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base / De Stefano, Marco; Balachandran, Ribin; Giordano, Alessandro M.; Ott, Christian; Secchi, Cristian. - (2018), pp. 1072-1077. ( 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 aus 2018) [10.1109/ICRA.2018.8460497].
An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base
Secchi, Cristian
2018
Abstract
In this paper we address the problem of controlling a robotic system mounted on an actuated floating base for space applications. In particular, we investigate the stability issues due to the low rate of the base control unit. We propose a passivity-based stabilizing controller based on the time domain passivity approach. The controller uses a variable damper regulated by a designed energy observer. The effectiveness of the proposed strategy is validated on a base-manipulator multibody simulation.
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