A Light Space Manipulator with High Load-to-Weight Ratio: System Development and Compliance Control

Wu, Zhiwei; Chen, Yongting; Xu, Wenfu

doi:10.34133/2021/9760520

Cited by 8 publications

(2 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The robotic manipulation arm is also self-developed. It is described in detail in reference [25]. Finally, connect the HIT-Armc and HIboT through the bolt to the HIphanT LMS, as shown in Fig.…”

Section: Methodsmentioning

confidence: 99%

A unified modeling and trajectory planning method based on system manipulability for the operation process of the legged locomotion manipulation system

Peng

Haibin

2023

Robotica

Self Cite

View full text Add to dashboard Cite

Flexibility is one of the most significant advantages of legged robots in unstructured environments. However, quadruped robots cannot interact with environments to complete some manipulation tasks. One effective way is to load a manipulation arm. In this paper, we exhibit a quadruped locomotion manipulation system (LMS) named HITPhanT. This system comprises a quadruped locomotion platform and a six-degree-of-freedom manipulation arm. Besides, when the LMS moves to a designated position for operation, it is necessary to constrain the foot contact points to avoid sliding. Therefore, the foot contact point is regarded as a spherical hinge. So the locomotion platform can be considered as a parallel mechanism. A hybrid kinematics model is established by considering the serial robotic arms connecting this parallel mechanism. Besides, the trajectory planning method, which improves the system’s manipulability in evaluating the system balance, is also proposed. Finally, corresponding experiments verify the overall system’s stabilization and algorithm’s effectiveness.

show abstract

Section: Methodsmentioning

confidence: 99%

A unified modeling and trajectory planning method based on system manipulability for the operation process of the legged locomotion manipulation system

Peng

Haibin

2023

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, the space environment has severe conditions such as microgravity, high vacuum, strong radiation, and large temperature differences, which seriously threaten the health and life safety of astronauts [3]. Since space robots are not restricted by human physiological conditions, they can carry out space exploration tasks with high quality for a long time [4,5], which has become an important trend for space exploration [6,7].…”

Section: Introductionmentioning

confidence: 99%

Generalized Maximum Correntropy Kalman Filter for Target Tracking in TianGong-2 Space Laboratory

et al. 2022

View full text Add to dashboard Cite

Target tracking plays an important role in the construction, operation, and maintenance of the space station by the robot, which puts forward high requirements on the accuracy of target tracking. However, the special space environment may cause complex non-Gaussian noise in target tracking data. And the performance of traditional Kalman Filter will deteriorate seriously when the error signals are non-Gaussian, which may lead to mission failure. In the paper, a novel Kalman Filter algorithm with Generalized Maximum Correntropy Criterion (GMCKF) is proposed to improve the tracking accuracy with non-Gaussian noise. The GMCKF algorithm, which replaces the default Gaussian kernel with the generalized Gaussian density function as kernel, can adapt to multi-type non-Gaussian noises and evaluate the noise accurately. A parameter automatic selection algorithm is proposed to determine the shape parameter of GMCKF algorithm, which helps the GMCKF algorithm achieve better performance for complex non-Gaussian noise. The performance of the proposed algorithm has been evaluated by simulations and the ground experiments. Then, the algorithm has been applied in the maintenance experiments in TianGong-2 space laboratory of China. The results validated the feasibility of the proposed method with the target tracking precision improved significantly in complex non-Gaussian environment.

show abstract

An improved ordered SIMP approach for multiscale concurrent topology optimization with multiple microstructures

Dong

et al. 2022

Composite Structures

View full text Add to dashboard Cite

A Light Space Manipulator with High Load-to-Weight Ratio: System Development and Compliance Control

Cited by 8 publications

References 18 publications

A unified modeling and trajectory planning method based on system manipulability for the operation process of the legged locomotion manipulation system

A unified modeling and trajectory planning method based on system manipulability for the operation process of the legged locomotion manipulation system

Generalized Maximum Correntropy Kalman Filter for Target Tracking in TianGong-2 Space Laboratory

An improved ordered SIMP approach for multiscale concurrent topology optimization with multiple microstructures

Contact Info

Product

Resources

About