로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제19권1호
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  • Pages.71-78
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  • 2024
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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위성 도킹 지상시험장치의 어드미턴스 제어

Admittance Control for Satellite Docking Ground Testing System

  • Heejin Woo (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Youngjin Choi (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Daehee Won (Robotics R&D Department, Korea Institute of Industrial Technology)
  • 투고 : 2023.10.10
  • 심사 : 2024.01.03
  • 발행 : 2024.02.29
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초록

The paper presents a hardware-in-the-loop (HIL) system designed for satellite movement testing in the microgravity environment on the ground with two industrial robots. Especially, the paper deals with the contact between satellites during rendezvous and docking simulations of satellites using a robotic HILS system. For this purpose, the admittance control method plays a core role in preventing damage to the satellite or robot from contact force between satellites. The coordinate frames are transformed into the mass center of the satellite and the admittance control at the level of exponential coordinates is adopted to actively use the properties of Lie groups related to tracking errors. These methods effectively mitigate the risk of robot damage during inter-satellite contact and ensure efficient tracking performance of satellite movements.

키워드

과제정보

This work was supported by the Institute of Civil Military Technology Cooperation funded by the Defense Acquisition Program Administration and Ministry of Trade, Industry and Energy of Korean government under grant No. UM22318RD3, South Korea

참고문헌

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