Hostname: page-component-cd9895bd7-lnqnp Total loading time: 0 Render date: 2024-12-27T11:27:32.140Z Has data issue: false hasContentIssue false
  • English
  • Français

Adaptive hybrid force/position control for the Space Station Alpha robotic operations

Published online by Cambridge University Press:  09 March 2009

S. Kalaycioglu  and
A. Brown
S. Kalaycioglu
Affiliation:
Canadian Space Agency, Space Technology - DSM, 6767 Airport Road, St-Hubert, Quebec (Canada) J3Y8Y9
A. Brown
Affiliation:
Canadian Space Agency, Space Technology - DSM, 6767 Airport Road, St-Hubert, Quebec (Canada) J3Y8Y9
Get access Rights & Permissions [Opens in a new window]

Summary

The Space Station Alpha is the most significant international space project of this century and the largest international technology development project ever undertaken. The space robot manipulators will be a substantial part of the space station and will perform tasks such as assembly as well as maintenance of the station. Therefore the robot manipulators need a very sophisticated real-time control capability for gross and fine motions (i.e. compliant motions) during various operations. Moreover, the proposed dual-arm robot system servicing the Space Station requires automated motion coordination, synchronization of the arms, and controlled mechanical interaction with fixed and moving objects involved in various tasks.

Keywords

Space Station AlphaSpace robotsAdaptive controlUnstructured environment
Type
Articles
Information
Robotica , Volume 13 , Issue 6 , November 1995 , pp. 549 - 557
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kalaycioglu, S., “Trajectory Planning and Object Avoidance” Final Report Vol. 1 (Thomson Systems for STEAR #5,1991).Google Scholar
2.Whitney, D., “Historical Perspective and State of the Art in Robot Force Control” Int. J. Robotics Research 1, 3–14 (1987).CrossRefGoogle Scholar
3.Raibert, M. and Craig, J., “Hybrid Position/Force Control of Manipulators” Trans. ASME 375–382 (June, 1981).Google Scholar
4.Luh, S. and Paul, R., “Position and Force Control when Positioning Objects with Robot Hands” IEEE Int. Conf. Robotics and Automation(1986) pp. 35–40.Google Scholar
5.Khatib, O., “A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation” IEEE J. of Robotics and Automation 1, 43–53 (1987).CrossRefGoogle Scholar
6.Khatib, O. and Burdick, S., “Joint Torque Sensory Feedback in the Control of a PUMA Manipulator” IEEE Trans, on Robotics and Automation 4,418–425 (1989).Google Scholar
7.Slotine, J. and Li, J., “Computational Algorithms for Adaptive Compliant Motion” IEEE Int. Conf. Robotics and Automation(1989) pp. 566–571.Google Scholar
8.An, C. and Hollerbach, J., “Dynamic Stability Issues in Force Control of Manipulators” IEEE Int. Conf. Robotics and Automation(1987) pp. 890–896.Google Scholar
9.Chiou, S. and Shainpoor, M., “Stable Execution of Contact Tasks using Impedance Control” IEEE Int. Conf. Robotics and Automation(1987) pp. 1047–1054.Google Scholar
10.Chen, Y.M., “Multi-Microprocessor-Based Cartesian-Space Control Techniques for a Mechanical Manipulator” IEEE J. of Robotics and Automation No. 2, 110–115 (1986).Google Scholar
11.Elgazzar, S., “Object-based Architecture for Multi-robot Programming” Proceedings of the International Teleoperation Conference,Greensboro, NC.(1991) pp. 143–158.Google Scholar
12.Hayward, V. and Daneshment, L. “An Environment for the Programming and Control of Cooperative Manipulators- KALI” ACC. Atlanta (1988) pp. 78–84.Google Scholar