Force-Control Algorithm for Surface Sampling
TBMG-2857
06/01/2008
- 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.
- Citation
- "Force-Control Algorithm for Surface Sampling," Mobility Engineering, June 1, 2008.