2016 Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

Abstract

On-orbit servicing missions will rely on space robots; however their complexity requires prior careful studies. Among these, robotic docking is especially challenging. In this work, the robotic impact docking between two space systems is considered. The impedance properties required to design an impedance controller are studied. These properties include the ratio of the masses between the systems under impact, the relative stiffness between the bodies of each space system and the associated damping factor. The velocity of the probe tip to be commanded is calculated aiming at successful latch at first impact. Simulation results validate the proposed approach.

Publication
2016 24th Mediterranean Conference on Control and Automation (MED)
Zisos Mitros
Zisos Mitros
PhD Student

Zisos’ research interests include surgical robotics, mechanical design and modelling and control.