Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

Xie, Yaen; Wu, Xiande; Inamori, Takaya; Shi, Z.; Sun, Xinzhu; Cui, Hongtao

doi:10.1016/j.asr.2018.10.034

Cited by 26 publications

(7 citation statements)

References 11 publications

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“…Farzaneh Kaloorazi proposed a method for optimizing the trajectory planning and layout of a given path in a redundant coordinated robot working unit using PSO, and achieved good experimental results [15]. Xie Y et al proposed a trajectory planning algorithm that can minimize the disturbance of a spacecraft to a spacecraft base for a dual robotic space robot [16]. Xuan proposed a method on the basis of ADAMS software for inverse driving trajectory planning for the difficulty of traditional methods for solving the inverse kinematics problem of joint robots, and achieved good experimental results [17].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision

Fan

Lin

et al. 2019

Applied Sciences

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Robotic arms with autonomous operation capabilities are currently widely used in real life, such as fruit picking, cargo handling, and workpiece assembly. However, the common autonomous operation methods of the robotic arm have some disadvantages, such as poor universality, low robustness, and difficult implementation. An autonomous operation method of multi-DOF (Multiple Degree of Freedom) robotic arm is proposed in this study on the basis of binocular vision. First, a target object extraction method based on extracting target feature points is proposed, and combined with the binocular positioning principle to obtain the spatial position of the target object. Second, in order to improve the working efficiency of the robotic arm, the robotic arm motion trajectory is planned on the basis of genetic algorithm in the joint space. Finally, a small physical prototype model is built for experimental verification. The experimental results show that the relative positioning error of the target object can reach 1.19% in the depth of field of 70–200 mm. The average grab error, variance, and grab success rate of the robot arm are 14 mm, 6.5 mm, and 83%, respectively. This shows that the method proposed in this paper has the advantages of high robustness, good versatility and easy implementation.

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Section: Introductionmentioning

confidence: 99%

Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision

Fan

Lin

et al. 2019

Applied Sciences

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“…At present, robot technology has become more and more mature, and its application industry has gradually expanded from mechanical manufacturing industry to aerospace, military, industrial medical and health, service industry and other industries, which plays a significant role in promoting the innovation of science and technology and production. With the development of manipulator, in order to complete more complex tasks, the number of joints has developed from single joint to multi joint, and the workspace has also been transformed from two-dimensional space to three-dimensional space [1]. Redundant manipulator has a high degree of flexibility, fault tolerance and reliability.…”

Section: Introductionmentioning

confidence: 99%

Dynamic obstacle avoidance and trajectory planning of five-axis redundant industrial manipulator

Ma¹

2023

J. vibroeng.

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Aiming at the problem that five axis redundant industrial manipulator dynamic obstacle avoidance and trajectory planning algorithm does not consider the minimum difference of each joint of the manipulator, which leads to low success rate of obstacle avoidance planning, slow convergence speed of path cost and long time of obstacle avoidance planning, a simulation study on dynamic obstacle avoidance trajectory planning of five axis redundant industrial manipulator is proposed. According to the D-H rule, the coordinate system of each link joint of the five axis redundant industrial manipulator is established, and the forward and inverse kinematics of the five axis redundant industrial manipulator is analyzed. AABB's hierarchical bounding box tree algorithm is used to detect the collision of five axis redundant industrial manipulator. This paper uses harmony search algorithm to plan the obstacle avoidance path of five axis redundant industrial manipulator, determines the objective function and constraints of the optimization problem, sets algorithm parameters, initializes harmony memory, creates new harmony, updates harmony memory, checks and searches the target state, achieves the maximum number of iterations, and realizes the dynamic obstacle avoidance and trajectory planning of five axis redundant industrial manipulator. The experimental results show that the path cost of the proposed algorithm converges faster, and can effectively improve the success rate of obstacle avoidance planning and shorten the time of obstacle avoidance planning.

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“…21 Later, Ahmad et al 22 uses Amnesia controller with PID control algorithm for redundant space robot thus, it follows a circular path with more accuracy. The dynamic model was built on the Euler-Lagrange theorem, 23,24 and robot mobility was controlled using the PD controller.…”

Section: Introductionmentioning

confidence: 99%

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

Shrivastava

Dalla

Abhishek

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The space manipulators operate in an unstructured or unknown environment, increasing the dynamic complexity of space manipulator. Due to disturbance in manipulator base, the trajectory tracking control issue arises that cause error between reference and actual trajectory. Hence, to sort out these issues, this work presents optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller. Firstly, the dynamic model of a 7DOF space manipulator built on Euler-Lagrange theorem, using the Jacobian matrix of individual link is designed. Later on, the Amnesia controller strategy is implemented that keeps a record of the trajectory tracking error and sends them to the robot tip. Compared to PID control scheme, the rising time, settling time, and overshoot is reduced even further when amnesia controller is used. The trajectory deviation using PID controller is 15°, while it is 3° using Amnesia controller, as expected. Hence, Amnesia controller reduces the trajectory tracking error between reference and actual trajectory of the redundant robot. The effectiveness of the proposed methodology employing a redundant 7DOF space robot has been verified. This proposed scheme can be utilized for on-orbit servicing and space debris removal through space craft.

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Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

Cited by 26 publications

References 11 publications

Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision

Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision

Dynamic obstacle avoidance and trajectory planning of five-axis redundant industrial manipulator

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

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