In this paper, contact detection and isolation problems for a free-floating space robot are addressed. An approach based on monitoring the total momentum of the system is proposed. Indeed, in free-floating mode, no force or moment acts on the base and thus the total momentum is preserved. When a contact situation arises, the components of the total momentum change, detecting the event. Moreover, translational and rotational momentum can be exploited to identify the exact contact point. Finally, a possible extension of the approach to robots with base actuation is preliminarily discussed. The performance of the proposed strategies is assessed through numerical simulations considering a free-floating robot composed of a 3 degrees-of-freedom (DOF) arm mounted on a 6DOF moving base.

An approach to contact detection and isolation for free-floating space robots based on momentum monitoring

Cavenago, Francesco;Massari, Mauro
2019-01-01

Abstract

In this paper, contact detection and isolation problems for a free-floating space robot are addressed. An approach based on monitoring the total momentum of the system is proposed. Indeed, in free-floating mode, no force or moment acts on the base and thus the total momentum is preserved. When a contact situation arises, the components of the total momentum change, detecting the event. Moreover, translational and rotational momentum can be exploited to identify the exact contact point. Finally, a possible extension of the approach to robots with base actuation is preliminarily discussed. The performance of the proposed strategies is assessed through numerical simulations considering a free-floating robot composed of a 3 degrees-of-freedom (DOF) arm mounted on a 6DOF moving base.
2019
2019 IEEE Aerospace Conference
978-1-5386-6854-2
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1093477
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