A two-arm flexible space manipulator system for post-grasping manipulation operations of a passive target object

Stolfi, A.; Gasbarri, Paolo; Misra, A. K.

doi:10.1016/j.actaastro.2020.04.045

Cited by 27 publications

(10 citation statements)

References 18 publications

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“…Writing (2) for each gear-motor in a compact form and considering the coupling with ( 6) we obtain the following system of dynamical equations: with B m diagonal matrix containing the moments of inertia of the joint motors seen by the output shafts, m vector containing the control torques provided by the gearmotors, Y * vector containing both Y and m . To define the unknown vector R cl , it is necessary to introduce the kinematic compatibility equations; these equations ensure the connection between RSM and target [10]. It is possible to write them in algebraic form as: or in differential form as: with the matrix A and the vector B defined as follows:…”

Section: Kinematic and Dynamic Modelmentioning

confidence: 99%

“…It is important to remark how the control torques provided by joint motors do not act directly on the joint variables due to joint flexibility. To this aim, a Jacobian transpose control law (JTC) is used [10,24]. In detail: with m,j part of m relative to the j-th arm, ̇J ,j the same for ̇J , K p,j and K d,j diagonal matrices containing proportional and derivative control gains, respectively, e EE,j position and attitude errors of the j-th end-effector with respect to desired conditions and J EE,j Jacobian matrix of the j-th end-effector, defined in order to relate the state of the j-th end-effector to the joint angles of the j-th robotic arm.…”

Section: Control Strategiesmentioning

confidence: 99%

“…In detail: with m,j part of m relative to the j-th arm, ̇J ,j the same for ̇J , K p,j and K d,j diagonal matrices containing proportional and derivative control gains, respectively, e EE,j position and attitude errors of the j-th end-effector with respect to desired conditions and J EE,j Jacobian matrix of the j-th end-effector, defined in order to relate the state of the j-th end-effector to the joint angles of the j-th robotic arm. In both cases, the desired conditions will be chosen fixed when it is necessary to keep fixed the system configuration or time-varying with polynomial law when it is necessary to reach a desired system configuration [10].…”

Section: Control Strategiesmentioning

confidence: 99%

“…A preliminary OOS mission analysis and design is presented in [9], including the preliminary phases of far-range and close-range rendezvous with the target; robotic arms are used to capture the target and to install an apogee motor on the target with the aim of deorbiting the target. Another approach is presented in [10], in which the post-capture manipulation phase is conducted by means of two robotic arms with flexible elements in order to lead the target towards a docking interface mounted on the main platform. The methods most commonly used in literature to study such systems are the multi-body approaches of Newton and Kane [11,12].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Mixed Kane–Newton Multi-Body Analysis of a Dual-Arm Robotic System for On-Orbit Servicing Missions

Bonis

Angeletti

Iannelli

et al. 2021

Aerotec. Missili Spaz.

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A currently relevant topic is the development of on-orbit servicing missions designed to repair, refuel or deorbit non-co-operative spacecraft. For this purpose, it is possible to use space robotic systems composed of a main platform and one or more robotic arms. In this paper, the capacity of a dual-arm robotic system to manipulate and to deorbit a generic target will be analyzed. For this purpose, a mixed Kane–Newton multi-body model will be implemented; this model will allow to switch automatically from an open-chain configuration (target captured via a single robotic arm) to a closed-chain configuration (target captured via both robotic arms) and vice versa. The flexibility of the joints of the system and the flexibility of the components of the robotic arms will be considered in the model. The system will be properly sized to operate the deorbiting of the target. Under the hypothesis of planar motion, numerical results will be presented to validate the model and to demonstrate the correct sizing of the system.

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Section: Kinematic and Dynamic Modelmentioning

confidence: 99%

Section: Control Strategiesmentioning

confidence: 99%

Section: Control Strategiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Mixed Kane–Newton Multi-Body Analysis of a Dual-Arm Robotic System for On-Orbit Servicing Missions

Bonis

Angeletti

Iannelli

et al. 2021

Aerotec. Missili Spaz.

Self Cite

View full text Add to dashboard Cite

show abstract

“…There are many active removal technologies for space debris consisting of robotic arm capture, rope net capture and laser removal. The robotic arm capture technology is highly mature and manoeuvrable [2][3][4]. However, this technology is usually applied to cooperative objects with a docking capture interface, and it is so difficult to capture spinning or rolling objects that the versatility is limited [5,6].…”

Section: Introductionmentioning

confidence: 99%

Design of a fuel-efficient scheme for space debris removal

Yang

2022

J. Phys.: Conf. Ser.

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In view of the growing threat of space debris and the limitation of current debris removal method. A novel conceptual solution for multiple space debris removal is proposed, and a low-cost and miniaturized removal system is designed in this paper. And the structural composition of this removal system is designed and the space debris removal process is introduced, the system can be divided into two components including satellite platform and many mission CubeSats. The mission CubeSats can be re-launched into the transfer orbits of different space debris through a push-launch method, and the fuel consumptions on the removal mission for three space debris, using the proposed multiple removal system and traditional removal system are calculated and compared. The compared results demonstrated that the proposed solution for multiple space debris removal and the designed removal system can decrease the fuel consumptions effectively.

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Integrated control‐structure co‐design for flexible manipulators

Bastos

2024

Optim Control Appl Methods

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This work aims to develop a methodology for the integrated control‐structure design of flexible multibody systems. Such an issue is linked to a generalization of the inverse dynamics problem, where both the feedforward control and mechanical parameters are designed to perform a desired trajectory optimally. The resulting constrained motion is aimed at improving the dynamic performance of the system, which is underactuated, with less power demand but possible elastic deformation. Stable inversion methods are required to deal with the internal dynamics related to underactuation. The proposed methodology is based on the optimal control theory. For illustrative purposes, we considered a fully actuated linear time‐invariant (LTI) system, establishing the integrated design results in a least‐squares homogeneous system and in an optimization problem. An additional formulation is proposed for the integrated design of the flexible multibody systems, where both a multi‐criterion optimization and a scalarized problem of a corresponding nonlinear programming problem are formulated to deal with the unstable zero‐dynamics related to non‐minimum phase systems and nonlinearity. The numerical simulation of an underactuated two‐masses‐spring‐damper system and a flexible robotic manipulator in planar motions are used for validation. Finally, the beneficial aspects of the integrated design are analyzed.

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A two-arm flexible space manipulator system for post-grasping manipulation operations of a passive target object

Cited by 27 publications

References 18 publications

Mixed Kane–Newton Multi-Body Analysis of a Dual-Arm Robotic System for On-Orbit Servicing Missions

Mixed Kane–Newton Multi-Body Analysis of a Dual-Arm Robotic System for On-Orbit Servicing Missions

Design of a fuel-efficient scheme for space debris removal

Integrated control‐structure co‐design for flexible manipulators

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