Space robot and method of controlling a space robot
AssigneeDeutsches Zentrum für Luft- und Raumfahrt e.V.
InventorsRia VIJAYAN, Marco DE STEFANO, Christian OTT
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Abstract
A space robot has at least one satellite base, at least one redundant manipulator attached to the satellite base, and at least one control device for controlling the at least one manipulator and the at least one satellite base. The control device is configured to provide a unified controller that takes into account constraints by means of quadratic programming (QP), and also uses a controller with nullspace projection that decouples the movement of at least a part of the manipulator, preferably the end effector, from the positional configuration of the satellite base.
Claims20
A space robot, comprising
- a satellite base;
- a redundant manipulator attached to the satellite base;
- and
- a control device for controlling the redundant manipulator and the satellite base,
- wherein the control device is configured to provide a unified controller that takes into account constraints using quadratic programming and uses a controller with nullspace projection that decouples movement of at least a portion of the redundant manipulator from a positional configuration of the satellite base.
A method of controlling a space robot having at least one satellite base and at least one redundant manipulator attached to the satellite base, the method comprising:
- controlling the at least one manipulator and the at least one satellite base using a unified controller that takes into account constraints using quadratic programming and uses a controller with nullspace projection that decouples a movement of at least a portion of the redundant manipulator from a positional configuration of the satellite base.
Dependencies are inferred from the claim text.