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Deployable Truss Operation by ETS‐VII Robot Arm Using Force Accommodation Control
Author(s) -
Nohmi Masahiro,
Matsumoto Kohtaro,
Ueno Hiroshi,
Yoshida Tetsuji
Publication year - 2001
Publication title -
computer‐aided civil and infrastructure engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 2.773
H-Index - 82
eISSN - 1467-8667
pISSN - 1093-9687
DOI - 10.1111/0885-9507.00223
Subject(s) - truss , teleoperation , robotic arm , robot , engineering , arm solution , robotics , trajectory , torque , simulation , robot control , control theory (sociology) , control engineering , computer science , control (management) , artificial intelligence , mobile robot , mechanical engineering , structural engineering , physics , astronomy , thermodynamics
An experiment for teleoperating a truss structure has been performed as part of a space robotics mission on Engineering Test Satellite No. 7 (ETS‐VII). This article reports the results from truss experiments conducted by means of the ETS‐VII robot arm using force accommodation control, which is a specific control law developed for the ETS‐VII robot arm. With this control function, the robot arm moves toward the point where the external force becomes the command value, which is sent from the ground. This control technique is useful especially in the case of teleoperation with time delay, since excessive force and torque can be avoided, and in addition, no a priori trajectory information is required. However, the robot arm cannot attain the desired configuration for itself. These characteristics can be used for deployable and assembly truss operation, making full use of merits and avoiding demerits. The effectiveness is confirmed through an ETS‐VII onboard experiment.