Generalized Object Control and Assembly for Space Robots

by Jeff Russakow, Stanford Univ, United States,
Stephen Rock, Stanford Univ, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

This paper presents a Generalized Object Control framework which subsumes Unified Motion/Force Control and Object Impedance Control. Under this framework new forms of assembly primitives may be constructed which include Object Impedance Control. The benchmark problem of assembly for a peg and hole is reexamined under this new framework, and modifications to the peg insertion primitive are suggested to account for non-ideal physical realities present in any real robotic system. Initial experimental findings are discussed for assembly of free-floating objects by space robots.



Subject Headings: Robotics | Control systems | Benchmark | Motion (dynamics) | Construction management | Probe instruments | Space structures | Space frames

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