Force-Control Algorithm for Surface Sampling

TBMG-2857

06/01/2008

Abstract
Content

A G-FCON algorithm is designed for small-body surface sampling. It has a linearization component and a feedback component to enhance performance. The algorithm regulates the contact force between the tip of a robotic arm attached to a spacecraft and a surface during sampling. The control algorithm is insensitive to the surface properties, enabling it to maintain the right contact force for a wide range of surface compliance properties.

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Citation
"Force-Control Algorithm for Surface Sampling," Mobility Engineering, June 1, 2008.
Additional Details
Publisher
Published
Jun 1, 2008
Product Code
TBMG-2857
Content Type
Magazine Article
Language
English