{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,25]],"date-time":"2024-09-25T04:37:15Z","timestamp":1727239035637},"reference-count":20,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2009,7,1]],"date-time":"2009-07-01T00:00:00Z","timestamp":1246406400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[2009,7]]},"abstract":" This paper presents a control scheme for interaction torque control through impedance control at the interface of the end-effector and the environment. The impedance control is achieved by introduction of passive degrees of freedom (DOF) in the controller of the robotic system. Due to the interaction between the robot tip and the environment, the interaction torques act on the tip which gets transmitted through links to the base of the vehicle and the orientation of the vehicle changes. The orientation is restored back to the initial value using a reaction wheel as an attitude controller. The behavior of the space robot with torque and attitude controller is discussed. <\/jats:p>","DOI":"10.1177\/0037549709102824","type":"journal-article","created":{"date-parts":[[2009,7,2]],"date-time":"2009-07-02T14:32:49Z","timestamp":1246545169000},"page":"451-459","source":"Crossref","is-referenced-by-count":7,"title":["Interaction Torque Control by Impedance Control of Space Robots"],"prefix":"10.1177","volume":"85","author":[{"family":"Pushparaj Mani Pathak","sequence":"first","affiliation":[{"name":"Mechanical and Industrial Engineering Department Indian Institute of Technology, Roorkee, India,"}]},{"given":"Amalendu","family":"Mukherjee","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department Indian Institute of Technology, Kharagpur, India"}]},{"given":"Anirvan","family":"Dasgupta","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department Indian Institute of Technology, Kharagpur, India"}]}],"member":"179","published-online":{"date-parts":[[2009,7,2]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2000.p0351"},{"volume-title":"Proceedings of the 31st Conference on Decision and Control","author":"Colbaugh, R.","key":"atypb3"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/70.768186"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1115\/1.1590685"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/70.258051"},{"volume-title":"Proceedings of the 1997 IEEE International Conference on Robotics and Automation","author":"Moosavian, S.","key":"atypb7"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1016\/S0957-4158(03)00040-0"},{"volume-title":"Proceedings of the American Control Conference","author":"Davis, H.","key":"atypb9"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1016\/S0531-5131(03)00492-8"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1115\/1.2098894"},{"volume-title":"Bond Graph in Modeling, Simulation and Fault Identification","year":"2006","author":"Mukherjee, A.","key":"atypb12"},{"volume-title":"System Dynamics: A Unified Approach","year":"1990","author":"Karnopp, D.C.","key":"atypb13"},{"key":"atypb14","unstructured":"Users Manual of SYMBOLS Shakti. 2006. http:\/\/www.htcinfo. com\/, High-Tech Consultants, S.T.E.P., Indian Institute of Technology, Kharagpur."},{"volume-title":"Shaping the Interaction Behavior of Manipulators through Additional Passive Degrees of","year":"1994","author":"Kumar, C.S.","key":"atypb15"},{"volume-title":"The Control of Dynamically Interacting Systems. 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