A scheme for robust trajectory control of space robots

Pathak, Pushparaj Mani; Kumar, R. Prasanth; Mukherjee, A.; DasGupta, Anirvan

doi:10.1016/j.simpat.2008.06.011

Cited by 39 publications

(24 citation statements)

References 22 publications

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“…The modelling and trajectory control of 2 DoF, planar robot for space application have been reported (Pathak, Mukherjee, and Dasgupta 2005). This study was further extended to a 3 DoF space robot using object-oriented multi-bond graphs and robust trajectory control, considering the base movements of the vehicle (Pathak et al 2008). …”

Section: Bond Graph Modellingmentioning

confidence: 98%

“…The rotational and translational rigid body motions in body fixed coordinates were described through separate junction structures (Euler junction structures) by assuming that the reference frame is aligned with the principal axes (Karnopp 1978). Quite a few researchers have attempted the dynamic modelling of robotic systems using bond graph method Shahinpoor 1985;Gawthrop 1991;Mukherjee et al 2006;Pathak, Prasanth Kumar, Mukherjee, and Dasgupta 2008). The use of multi-bond graphs in the modelling of industrial manipulator and the transformation of inertias with differential causality to integral causality using formula manipulation has been described by Bos and Tiernego (1985).…”

Section: Bond Graph Modellingmentioning

confidence: 99%

See 1 more Smart Citation

Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

Periasamy

Thondiyath

Singaperumal

2012

International Journal of Systems Science

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Section: Bond Graph Modellingmentioning

confidence: 98%

Section: Bond Graph Modellingmentioning

confidence: 99%

Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

Periasamy

Thondiyath

Singaperumal

2012

International Journal of Systems Science

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“…The basic concept of overwhelming controller is that the controller dynamics overwhelms the plant dynamics. 16,20,21 Closely looking at Equations (A1) and (A2) given in the Appendix, and simplifying these equations by omitting the modeling of the electrical domain part for simplification and assuming no force control, i.e. γ = 1, then the transfer function between the floating rigid body output flow f 1 (s) and the left/right robot arm tip effort e 2 (s) can be written in the form…”

Section: Modeling and Controller Design Of Single Dof Dual Arm Coopermentioning

confidence: 99%

Design of a virtual foundation for impedance control in a dual arm cooperative space robot

2011

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This work presents the design of virtual foundation through which impedance control is achieved in a dual arm space robot for cooperative manipulation of arms. A docking operation by the two arms of the space robot has been carried out. During this docking operation, the space robot has a mechanical interaction with the compliant objects which encounter force and motion constraints. The docking operation requires that the object must be gripped and follows a specific path to dock the selected object. By use of the virtual foundation, impedance control is achieved to fulfill both objectives, i.e. force control during gripping and trajectory control during docking. The space robot base compensation is designed to achieve the desired trajectory to control the interaction forces. The methodology has been validated with simulated results.

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“…Similar behavior is also observed for the Nyquist contours of impedance thus assuring the stability of the system. Effect of noise on the controller performance when it is acting in trajectory control mode has been worked out [17] and it is observed that the controller is not sensitive to the white noise signals present in velocity signals from sensors which are used to measure the base velocity of space vehicle.…”

Section: Substituting the Values Of R(s) F(s) And C(s)mentioning

confidence: 99%

Interaction Torque Control by Impedance Control of Space Robots

2009

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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.

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A scheme for robust trajectory control of space robots

Cited by 39 publications

References 22 publications

Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

Design of a virtual foundation for impedance control in a dual arm cooperative space robot

Interaction Torque Control by Impedance Control of Space Robots

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