NDLI: Zero-gravity emulation of satellites in present of uncalibrated sensors and model uncertainties

Content Provider	IEEE Xplore Digital Library
Author	Talebpour, M. Namvar, M.
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, Sharif University of Technology, P.O.Box 11155-8639, Tehran, Iran (Talebpour, M.; Namvar, M.)
Abstract	Recently, an alternative to the standard passive zero gravity emulation testbeds is developed which uses robotic technology. It is comprised of a manipulator whose end-effector rigidly grasps a satellite mock up, a six-axis force/moment (F/M) sensor placed at the interface of the satellite and the manipulator, and a control system. Despite significant advantages of the approach there exist practical problems such as the existence of uncertainty in the robot dynamic model as well as uncalibrated force/moment sensor measurements. In this paper, new adaptive methods based on the Lyapunov theory are proposed to deal with the model uncertainty and imperfect sensor measurements. Simulations which are carried out on a 6 degree of freedom serial manipulator, demonstrate the performance of the proposed method.
Starting Page	1063
Ending Page	1068
File Size	1067607
Page Count	6
File Format	PDF
ISBN	9781424446018
ISSN	10851992
DOI	10.1109/CCA.2009.5280698
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-07-08
Publisher Place	Russia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Emulation Satellites Uncertainty Robot sensing systems Force sensors Manipulator dynamics Force measurement Standards development Gravity Testing uncalibrated force/moment sensor zero gravity satellite mock up adaptive control uncertainty
Content Type	Text
Resource Type	Article

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