A study of cooperative control of self-assembling robots in space with experimental validation
Name
Toglia-2009-A study of cooperative control of self-assembling robots in space with experimental validation.pdf
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748.95 KB
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Checksum (MD5)
41890667a1e531d5826bafa301ddc14f
Author(s)
Toglia, Chiara
Kettler, Daniel
Kennedy, Fred
Dubowsky, Steven
Date Issued
July 2009
Journal
Proceedings of the IEEE International Conference on Robotics and Automation, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Toglia, C. et al. “A study of cooperative control of self-assembling robots in space with experimental validation.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 3031-3036. © Copyright 2009 IEEE
Version
Final published version
Abstract
Modular self-assembling on-orbit robotic and satellite systems can be more reliable, have lower launch costs, and be more easily repaired and refueled. However, when individual modules assemble, many challenges and opportunities make the control of the assembled system complex. These issues include changes in inertial properties, and redundancy of actuators and sensors. Optimal control methods may be used to coordinate the control of the modules after assembly, insure good performance, and best utilize the combined resources of the assembly of modules. Simulation and experimental results compare this Cooperative algorithm's performance to that of an approach in which the control of the individual modules is not coordinated. Cooperative optimal control methods prove well-suited for controlling redundant, modular space systems.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://dx.doi.org/10.1109/ROBOT.2009.5152788
