Academic Journal
Compliant robotic behaviors for satellite servicing
| العنوان: | Compliant robotic behaviors for satellite servicing |
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| المؤلفون: | Joseph Cressman, Rahul Pokharna, Wyatt Newman |
| المصدر: | Frontiers in Robotics and AI, Vol 10 (2023) |
| بيانات النشر: | Frontiers Media S.A., 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Mechanical engineering and machinery LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | compliance, admittance control, remote supervision, teleoperation, behaviors, satellite servicing Frontiers, Mechanical engineering and machinery, TJ1-1570, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2296-9144 |
| Relation: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1124207/full; https://doaj.org/toc/2296-9144 |
| DOI: | 10.3389/frobt.2023.1124207 |
| URL الوصول: | https://doaj.org/article/cd4c7fbd15914bdf95b2b83b12915385 |
| رقم الانضمام: | edsdoj.4c7fbd15914bdf95b2b83b12915385 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 22969144 |
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| DOI: | 10.3389/frobt.2023.1124207 |