A novel strategy for space manipulator detumbling a non-cooperative target with collision avoidance

Zhan, Bowen; Jin, Minghe; Yang, Guocai; Zhang, Cheng

doi:10.1016/j.asr.2020.05.045

Cited by 19 publications

(5 citation statements)

References 22 publications

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“…Then, selected test points on the robotic arm linkage are solved in real-time for the repulsive potential with each obstacle and the attractive potential with the target. Zhan et al [49] proposed an accelerated potential field (AccPF) method to plan the tumbling velocity trajectory of a spatial manipulator to eliminate the perturbation of non-cooperative targets. Their attractive potential field eliminates the initial momentum, while the repulsive potential field forces the manipulator away from the obstacle.…”

Section: Spatial Robotic Arms Obstacle Avoidance Trajectory Planning ...mentioning

confidence: 99%

“…In summary, the current status of space robotic arm trajectory planning research based on obstacle avoidance requirements is summarized in Table 1. √ Dynamic Obstacle Avoidance [40] √ Reaction Zero and Jacobi Transpose [41] √ Adjusting Gain [43] √ Use a Mass-spring-damping System [46] √ Convex Quadratic Programming [47] √ CCDJAP-IK [49] √ AccPF [50] √ - [52] √ Based on C-space Topology [53] √ Two-way Heuristic Search Method [55] √ FTWLCC [56] √ Combine the Dynamic Window [59] √ - [60] √ A New Time-scale Transformation [61] √ Improved RRT [62] √ Combine with APF…”

Section: Spatial Robotic Arms Obstacle Avoidance Trajectory Planning ...mentioning

confidence: 99%

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A Review of Spatial Robotic Arm Trajectory Planning

et al. 2022

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With space technology development, the spatial robotic arm plays an increasingly important role in space activities. Spatial robotic arms can effectively replace humans to complete in-orbit service tasks. The trajectory planning is the basis of robotic arm motion. Its merit has an essential impact on the quality of the completed operation. The research on spatial robotic arm trajectory planning has not yet formed a broad framework categorization, so it is necessary to analyze and deeply summarize the existing research systematically. This paper introduces the current situation of space obstacle avoidance trajectory planning and motion trajectory planning. It discusses the basic principle and practical application of the spatial robotic arm trajectory planning method. The future development trend has also been prospected.

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Section: Spatial Robotic Arms Obstacle Avoidance Trajectory Planning ...mentioning

confidence: 99%

Section: Spatial Robotic Arms Obstacle Avoidance Trajectory Planning ...mentioning

confidence: 99%

A Review of Spatial Robotic Arm Trajectory Planning

et al. 2022

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“…After the capture of the debris, the mass and inertia of the target have a signi icant impact on the system dynamics. Thus, proper control for the detumbling of the system must be proposed [5,6].…”

Section: Introductionmentioning

confidence: 99%

Parameter Identification of Space Manipulator's Flexible Joint

Wojtunik,

Basmadji,

Granosik

et al. 2024

JAMRIS

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It is considered to use a manipulator mounted on a satellite in order to perform active debris removal missions. Space manipulator control system needs to take the dynamic model of the satellite-manipulator system into account because of the influence of the manipulator motion on the position and attitude of the satellite. Therefore, precise modelling of the space manipulator dynamics as well as parameter identification are needed in order to improve the credibility of the simulation tools. In this paper we presented the identification of the flexible-joint space manipulator model based on dynamic equations of motion. Experiments were performed in emulated microgravity environment using planar air bearings. The arbitrarily selected joint-space trajectory was performed by the manipulator’s control system. The experiments were repeated multiple times in order to analyze the identification method sensitivity. The identification is based on Simulink SimMechanics model. Thus, the procedure can be used for any space manipulator without the need of obtaining analytical relations for dynamic equations each time. Including joint flexibility and spring viscous damping in the dynamic model allowed to reflect the experimental measurements better than the reference model could. Identified parameters of the flexible joint have values of the same magnitude as corresponding real system parameters.

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“…Then, a collision-free trajectory planning algorithm is proposed in. 6 An acceleration potential field is created in the algorithm to generate joint accelerations, which dedicate to decreasing velocities to zero or generating movements for collision avoidances. This method is computationally efficient in the problem that has no demand for the global optimal solution.…”

Section: Introductionmentioning

confidence: 99%

Detumbling motion planning for the space manipulator with grasped targets and flexible appendages in the post-capturing phase

Zhan

Jin

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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This paper proposes a detumbling motion planning algorithm for free-flying space manipulator with a grasped tumbling target in the post-capturing phase. This algorithm can not only collision-freely guide the space manipulator and the target to terminal stationary states but also suppress the residual vibration of the flexible appendage on the space manipulator. First, considering the avoidances of self-collisions and motion singularities, a smooth detumbling path is planned for the space manipulator by a proposed smoothing rapid random tree star algorithm (SM-RRT*). Second, a quintic polynomial function is implemented to generate a continuous detumbling trajectory along the detumbling path. Then, with the object of minimizing the residual flexible vibrations and the constrains of joint acceleration limits, an optimization model is established to refine the detumbling trajectory. Finally, the optimization model is solved by an improved particle swarm optimization algorithm (PSO), where a potential field term is included in the generation of the particle velocity to enhance the computational efficiency. Simulation results validate the effectiveness of the proposed detumbling motion planning algorithm.

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A novel strategy for space manipulator detumbling a non-cooperative target with collision avoidance

Cited by 19 publications

References 22 publications

A Review of Spatial Robotic Arm Trajectory Planning

A Review of Spatial Robotic Arm Trajectory Planning

Parameter Identification of Space Manipulator's Flexible Joint

Detumbling motion planning for the space manipulator with grasped targets and flexible appendages in the post-capturing phase

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