A reaction-null/Jacobian transpose control strategy with gravity gradient compensation for on-orbit space manipulators

Pisculli, Andrea; Felicetti, Leonard; Gasbarri, Paolo; Palmerini, Giovanni B.; Sabatini, Marco

doi:10.1016/j.ast.2014.07.012

Cited by 34 publications

(10 citation statements)

References 15 publications

(18 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In particular the effectiveness of the proposed algorithm to compensate the flexibility will be compared with the socalled Jacobian Transpose Control algorithms (JTC) that the authors studied and tested in a previous work [31]. For the sake of brevity the mathematical details of the JTC algorithm is not reported here.…”

Section: Numerical Resultsmentioning

confidence: 97%

See 1 more Smart Citation

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Gasbarri

Pisculli

2015

Acta Astronautica

View full text Add to dashboard Cite

Section: Numerical Resultsmentioning

confidence: 97%

“…Later on, the ODE governing equations of motion are derived by a minimum set of variables as suggested by the Kane method [29][30][31]. This method allows to easily analyze multibody systems with pre-determined constraints.…”

Section: Mathematical Formulations For Modelling a Fully Elastic Minimentioning

confidence: 99%

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Gasbarri

Pisculli

2015

Acta Astronautica

View full text Add to dashboard Cite

“…Because space robots differ from ground-based robots, researchers have developed new kinematical theories for space robots, including the Virtual Manipulator (VM) method [14], Generalized Jacobian Matrix (GJM) [30], and Dynamically Equivalent Manipulator (DEM) [31]. GJM is widely used in control of space robots [32,33]. However, when applied to trajectory planning, the VM and DEM methods focus on the transformation of the model, and the transformation process significantly increases the workload.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning Based on Screw Theory with Consideration of the Optimal Berth Position for a Space Robot

Wang

Liao

Gong

2019

International Journal of Aerospace Engineering

View full text Add to dashboard Cite

Trajectory planning is a prerequisite for the tracking control of a free-floating space robot. There are usually multiple planning objectives, such as the pose of the end-effector and the base attitude. In efforts to achieve these goals, joint variables are often taken as exclusive operable parameters, while the berth position is neglected. This paper provides a novel trajectory planning strategy that considers the berth position by applying screw theory and an optimization method. First, kinematic equations at the position level are established on the basis of the product of exponential formula and the conservation of the linear momentum of the system. Then, generalized Jacobian matrices of the base and end-effector are derived separately. According to the differential relationship, an ordinary differential equation for the base attitude is established, and it is solved by the modified Euler method. With these sufficient and necessary preconditions, a parametric optimization strategy is proposed for two trajectory planning cases: zero attitude disturbance and attitude adjustment of the base. First, the berth position is transformed into the desired position of the end-effector, and its constraints are described. Joint variables are parameterized using a sinusoidal function combined with a five-order polynomial function. Then, objective functions are constructed. Finally, a genetic algorithm with a modified mutation operator is used to solve this optimization problem. The optimal berth position and optimized trajectory are obtained synchronously. The simulation of a planar dual-link space robot demonstrates that the proposed strategy is feasible, concise, and efficient.

show abstract

“…It is mainly used to help the on-orbit space station to capture and release the cooperative or non-cooperative target, such as spacecraft docking, target handling, on-orbit construction, camera shooting, and other space activities [1][2][3][4]. Logically, the visual system of space manipulator can guide itself working and moving as it required.…”

Section: Introductionmentioning

confidence: 99%

Calibration of visual model for space manipulator with a hybrid LM–GA algorithm

Jiang

Wang

2016

Mechanical Systems and Signal Processing

View full text Add to dashboard Cite

A reaction-null/Jacobian transpose control strategy with gravity gradient compensation for on-orbit space manipulators

Cited by 34 publications

References 15 publications

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Trajectory Planning Based on Screw Theory with Consideration of the Optimal Berth Position for a Space Robot

Calibration of visual model for space manipulator with a hybrid LM–GA algorithm

Contact Info

Product

Resources

About