Compliant robotic behaviors for satellite servicing

The demands of traditional industrial robotics differ significantly from those space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the environment needs to cope uncertainties, dynamics, communication delays or interruptions, similar human astronauts. These make a well-suited application for compliant behavior-based programming. Pose Target Wrench Limiting (PTWL) is behavior paradigm developed specifically meet these demands. PTWL controls robot by moving virtual attractor target pose. applies forces, based on stiffness damping presets, an underlying admittance controller. Guided will follow until safety conditions are violated success criteria met. We tested variety quasi-static may be useful future operations. Our results demonstrate extremely powerful tool. It makes teleoperation easy safe wide range tasks. also facilitates creation semi-autonomous state machines reliably complete complex minimal intervention.