Challenges in Closed-loop Compliant Motion Control for Planetary Robotics
Published in IEEE Aerospace Conference, 2024
J. Bowkett et al.
Closed-loop compliant motion and contact-rich control present distinct challenges in spaceflight robotics, where harsh thermal variations, extreme latency constraints, unmodeled environment compliance, and low-stiffness structural modes complicate interaction dynamics. This paper addresses the theoretical and practical obstacles to executing high-precision continuous force control on flight-representative robotic arms, detailing gravity compensation, wrench filtering, tare behaviors, and stability analysis.
Recommended citation: Bowkett J. et al. “Challenges in Closed-loop Compliant Motion Control for Planetary Robotics.” IEEE Aerospace Conference, 2024.