Controlled zero dynamics feedback linearization with application to free-floating redundant orbital manipulator

Barciński, Tomasz; Lisowski, Jakub; Rybus, Tomasz; Seweryn, K.

doi:10.1109/acc.2013.6580102

Cited by 15 publications

(3 citation statements)

References 14 publications

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“…In extreme situations, a space robot can be controlled in an open loop, basing only on an initial state and an accurate mathematical model. However, taking into consideration that capturing with a robotic arm is a highly dynamic and risky manoeuvre, it is very important to develop a closed loop control system with signals from specialized sensors [1], [10], [18], [34], [42].…”

Section: Testing Capabilities Of Space Robots Control Systemsmentioning

confidence: 99%

2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

Oleś¹,

Kindracki²,

Rybus³

et al. 2017

JAMRIS

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Section: Testing Capabilities Of Space Robots Control Systemsmentioning

confidence: 99%

2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

Oleś¹,

Kindracki²,

Rybus³

et al. 2017

JAMRIS

Self Cite

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“…The GJM approach allows for the implementation of workspace control techniques in space manipulators. In [4,2], the authors feedback linearize space manipulators on ℝ 𝑛 to perform end-effector position and base attitude control during pre-and post-capture maneuvers. A tracking controller in the presence of angular momentum is formulated in [32].…”

Section: Introductionmentioning

confidence: 99%

Singularity-robust full-pose workspace control of space manipulators with non-zero momentum

Rousso

Chhabra

2023

Acta Astronautica

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“…In [71] a method for feedback linearization of constrained multi-body systems with non-zero momentum is developed. Moreover, [72,73] feedback linearize space manipulators to perform end-effector position and base attitude control during preand post-capture manoeuvers. A tracking controller in the presence of angular momentum is formulated in [74].…”

Section: Gnc Of Single-arm Free-floating Space Manipulatorsmentioning

confidence: 99%

Workspace Control of Free-Floating Space Manipulators for Implementation in a Novel On-Orbit Servicing Mission Architecture

Rousso¹

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An industrialized On-Orbit Servicing (OOS) mission architecture is proposed in this thesis which signifies the role of space manipulators in performing OOS missions. This mission architecture summarizes a procedure for OOS mission design based on a series of multi-objective optimization problems. To enhance proximity operations, it is concluded that the existence of an output tracking control system for space manipulators is beneficial. This thesis develops an output tracking controller to control the end-effector pose of an N-link free-floating space manipulator, with non-zero momentum. We employ feedback linearization on the Lie algebra of the Special Euclidean group SE(3) to remove the nonlinear influence from the system's dynamics and momentum in the controlled end-effector motion. Space manipulators are modelled as open-chain rigid multi-body systems, connected by either single or multi degree of freedom joints. The dynamics and kinematics of free-floating space manipulators are formulated on SE(3) using the exponential parameterization of screw motions. Multi-degree of freedom joints are modelled as the combination of the joints' individual exponential screw motion mappings to describe their motions as homogeneous transformations. The free-floating systems' equations of motion are obtained through an Euler-Lagrange derivation and decoupled into the base and manipulator motions. The conservation of linear and angular momentum is then considered as an affine nonholonomic constraint to the system, allowing for the dynamic reduction of a space manipulator system with conserved non-zero momentum. Due to the system's free-floating nature, the equations of motion are restricted to the manipulator's joint space which defines the region of controlled states.Two control cases are considered in this thesis, the first involving control over the output's linear motion and the second considering control over the end-effector pose. The first control case performs feedback linearization on R 3 where the resulting linear end-effector motion is controlled by a classical PID controller defined to impart a critically damped response in the error dynamics. For full pose control, feedback linearization is employed on se(3) for subsequent control using a modified feedforward, feedback PID control structure I first and foremost would like to extend my significant gratitude to my supervisor Dr. Robin Chhabra for providing me with constant support and the wonderful research experience. Aside from the tremendous technical insight and knowledge you have shared with me, you have also been a figure of compassion, perseverance and professionalism for which I very much appreciate. It has been a pleasure to conduct my research under your supervision. I would also like to acknowledge my colleagues in the ASRoM lab who have given their support and feedback in my research and have shared their friendship.I cannot describe the appreciation and love I have for my mom, Maria, my dad, Gilles, and my brother, Chris. To my parents in particular, th...

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Controlled zero dynamics feedback linearization with application to free-floating redundant orbital manipulator

Cited by 15 publications

References 14 publications

2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

Singularity-robust full-pose workspace control of space manipulators with non-zero momentum

Workspace Control of Free-Floating Space Manipulators for Implementation in a Novel On-Orbit Servicing Mission Architecture

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