The impedance control technique commands the chaser interface - usually represented by a robotic arm -To behave like a mass-spring-damper system, absorbing the impact energy of the target and therefore maintaining a continuous contact in the following phases. The paper describes a complete implementation of this technique to one-And two-Arms configurations of the chaser, referring to medium-class satellite platforms. The analysis is carried on numerically, by an extremely effective co-simulation approach combining MSC Adams for the multibody dynamics and Matlab/Simulink for the control. Additionally, a possible experimental set-up suitable for this approach and original applications of the technique to in-orbit operations are introduced.
Analysis of rendezvous maneuvers exploiting impedance control technique / Stolfi, Angelo; Sabatini, Marco; Gasbarri, Paolo; Palmerini, Giovanni B.. - 161:(2017), pp. 325-338. (Intervento presentato al convegno 3rd International Academy of Astronautics Conference on Dynamics and Control of Space Systems, DyCoSS 2017 tenutosi a rus).
Analysis of rendezvous maneuvers exploiting impedance control technique
Stolfi, Angelo;Sabatini, Marco;Gasbarri, Paolo;Palmerini, Giovanni B.
2017
Abstract
The impedance control technique commands the chaser interface - usually represented by a robotic arm -To behave like a mass-spring-damper system, absorbing the impact energy of the target and therefore maintaining a continuous contact in the following phases. The paper describes a complete implementation of this technique to one-And two-Arms configurations of the chaser, referring to medium-class satellite platforms. The analysis is carried on numerically, by an extremely effective co-simulation approach combining MSC Adams for the multibody dynamics and Matlab/Simulink for the control. Additionally, a possible experimental set-up suitable for this approach and original applications of the technique to in-orbit operations are introduced.File | Dimensione | Formato | |
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