위성 도킹 지상시험장치의 어드미턴스 제어open accessAdmittance Control for Satellite Docking Ground Testing System
- Other Titles
- Admittance Control for Satellite Docking Ground Testing System
- Authors
- 우희진; 최영진; 원대희
- Issue Date
- Feb-2024
- Publisher
- 한국로봇학회
- Keywords
- HILS; Admittance Control; Industrial Robots; Contact Between Satellites
- Citation
- 로봇학회 논문지, v.19, no.1, pp 71 - 78
- Pages
- 8
- Indexed
- KCI
- Journal Title
- 로봇학회 논문지
- Volume
- 19
- Number
- 1
- Start Page
- 71
- End Page
- 78
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/118668
- DOI
- 10.7746/jkros.2024.19.1.071
- ISSN
- 1975-6291
2287-3961
- Abstract
- The paper presents a hardware-in-the-loop (HIL) system designed for satellite movement testing in the microgravity environment on the ground with two industrial robots. Especially, the paper deals with the contact between satellites during rendezvous and docking simulations of satellites using a robotic HILS system. For this purpose, the admittance control method plays a core role in preventing damage to the satellite or robot from contact force between satellites. The coordinate frames are transformed into the mass center of the satellite and the admittance control at the level of exponential coordinates is adopted to actively use the properties of Lie groups related to tracking errors. These methods effectively mitigate the risk of robot damage during inter-satellite contact and ensure efficient tracking performance of satellite movements.
The paper presents a hardware-in-the-loop (HIL) system designed for satellite movement testing in the microgravity environment on the ground with two industrial robots. Especially, the paper deals with the contact between satellites during rendezvous and docking simulations of satellites using a robotic HILS system. For this purpose, the admittance control method plays a core role in preventing damage to the satellite or robot from contact force between satellites. The coordinate frames are transformed into the mass center of the satellite and the admittance control at the level of exponential coordinates is adopted to actively use the properties of Lie groups related to tracking errors. These methods effectively mitigate the risk of robot damage during inter-satellite contact and ensure efficient tracking performance of satellite movements.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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