Adaptive control of free-floating space manipulators using dynamically equivalent manipulator model

Parlaktuna, Osman; Özkan, Metin

doi:10.1016/j.robot.2003.11.007

Cited by 96 publications

(45 citation statements)

References 12 publications

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“…The DEM was employed to test the control methods which were originally developed for fixedbase manipulators but would be used for space manipulators. The DEM was used to develop an adaptive controller [41]. The concepts of VM and DEM for a simple space manipulator are shown in Fig.…”

Section: Kinematics and Dynamics Of Space Manipulatorsmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: Kinematics and Dynamics Of Space Manipulatorsmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…Hence, seeking for capable robust approach in order to handle uncertainty is important issue. Parlaktuno and Ozkan [5] applied an adaptive control method to space manipulator using DEM model. In this approach, unknown parameters such as mass and inertia tensor parameters are estimated by adaptive methods.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Tuning of Sliding Mode-PID Control in Free Floating Space Manipulator by Sliding Cloud Theory

Kharabian¹

2017

AJMIE

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Abstract:In this paper, a combinational control approach of sliding mode-PID is utilized in free floating space manipulator.Due to float base, nonlinearity of free floating space manipulator dynamics lead to having unstable behaviour and complicated dynamic model. To simplify the dynamic equation, dynamically equivalent manipulator is utilized which is a fixed base manipulator. In this approach, an unique map transfers dynamic parameters of free floating space manipulator to a fixed base manipulator. This transfer enlarges uncertainty bound of parameters. Hence, sliding mode-PID control as a combinational robust control approach is applied in the system. In this case, PID like sliding surface is proposed instead of conventional sliding surface. Adaptive tuning of sliding surface provides a Sliding Cloud that is a kind of dynamic sliding surface. In this way, inclination of system to stable behaviour increases and robustness of system, in the presence of uncertainties, is bolstered.

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“…The problem defined in these applications involves three stages: the approach phase, the impact moment and the sustained contact tracking. The approach phase has been treated in many works and defines the problem of positioning the tool without, or before, touching the environment, [1][2][3][4][5][6]. The second phase demands controlling the initial impact and damping out the vibrations generated during the event, see for instance [7][8][9].…”

Section: Introductionmentioning

confidence: 99%