Autonomous Path Planning and Experiment Study of Free-floating Space Robot for Target Capturing

Xu, Wenfu; Liu, Yu; Liang, Bin; Xu, Yangsheng; Wang, Qiang

doi:10.1007/s10846-007-9192-3

Cited by 44 publications

(15 citation statements)

References 28 publications

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“…The possibility to perform inertial parameters identification of the base spacecraft and the payload directly in orbit using accelerometers data is shown in [63]. Xu et al also proposed an autonomous path planning method for target capturing in [64,65]. The target features are extracted based on the visually measured information via the hand-eye camera and the target pose (position and orientation) and velocities are estimated using …”

Section: A Target Motion Prediction and Parameter Identificationmentioning

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: A Target Motion Prediction and Parameter Identificationmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…i_ min (28) where [ i_ min , i_ max ] and [˙ i_ min ,˙ i_ max ] are the bounds of ith joint position and velocity, respectively. Moreover, larger variation of the base attitude during the maneuvre is not admissible for safety.…”

Section: Constraints Of the Trajectory Planningmentioning

confidence: 99%

“…(29)), each joint rate is limited within the bound given by Eq. (28). Then, the cost function is defined to be…”

Section: Definition Of Cost Functionsmentioning

confidence: 99%

Target berthing and base reorientation of free-floating space robotic system after capturing

Cheng

Liang

et al. 2009

Acta Astronautica

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“…These factors make it difficult to achieve the main control objective of the SMR, that is, to provide the required motion of the manipulator's grip in space. Traditionally [1][2][3][4][5][6][7][8] this problem is solved by planning the grip's trajectory, at which the grip is moved from its initial point in the space to the final one. This is done by using a generalized Jacobian that allows calculating rates for SMR joints.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear control algorithm for a free-flying space robot

Rutkovsky¹,

Sukhanov²,

Glumov³

2014

AIP Conference Proceedings

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It is considered an alternative approach for solving the control tasks of the free-flying space manipulation robots (SMR) in the class of the system with feedback and in the regimes of manipulation functioning. In the context of this approach the questions of the SMR working area defining and forming of a control algorithm for the manipulation payload mounting in the given point of space are considered. At this it is supposed that the information about the direction to the target and the distance to it is known. Efficiency of suggested approach is illustrated at computer simulation of an example.

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Autonomous Path Planning and Experiment Study of Free-floating Space Robot for Target Capturing

Cited by 44 publications

References 28 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

Target berthing and base reorientation of free-floating space robotic system after capturing

Nonlinear control algorithm for a free-flying space robot

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