Cooperative Object Manipulation by a Space Robot with Flexible Appendages

Zarafshan, Payam; Moosavian, S. Ali A.

doi:10.1155/2013/965481

Cited by 2 publications

(4 citation statements)

References 36 publications

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“…The study of modeling and control of rigid-flexible multi-body systems is carried out by Zarafshan and Moosavian. 8 A space robot with flexible appendages is taken into account. The oscillatory vibration generated due to appendages is encountered using model-based controllers with limited computations for real-time implementation.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control of a group of cooperative planar space robot systems

Dalla

Pathak

2015

Proceedings of the Institution of Mechanical Engineers, Part I:

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A free-floating space robot is a non-holonomic system due to the conservation of the angular momentum. To control this type of system, it becomes impossible to have a desired trajectory without taking into account the non-holonomy effect of the system. This is further important for close trajectory tracking during the interaction with free-floating object. This article presents trajectory control of the three planar space robots having 2 degrees of freedom each to handle a free-floating object cooperatively. In this article, the work proposes the use of a control strategy (amnesia removal control) to take care of non-holonomy in the system. To demonstrate the efficacy of the proposed scheme, a comparative study of the proportional-integral-derivative-controlled three planar space robot systems with and without using amnesia recovery has been successfully carried out. Bond graph modeling has been used to model the system dynamics and to implement the control strategy.

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Section: Introductionmentioning

confidence: 99%

Trajectory tracking control of a group of cooperative planar space robot systems

Dalla

Pathak

2015

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…This term compensates disturbing forces exerted to the rigid subsystems. 11 In addition, a hybrid position-force control strategy has been studied for space robots. 12 In this hybrid control strategy, a virtual damping is included in the control law which leads to the leaner dynamic of the error.…”

Section: Introductionmentioning

confidence: 99%

“…[8][9][10] In this regard, control of rigid-flexible multi-body systems is currently an attractive research subject because of its application in the articulated space structures and flexible field mobile robotic systems. [11][12][13] This depends on determining the actuator torques that can produce the desired motion of such a complicated multi-body system. In other words, the inverse dynamics is part of the controller design, though control inputs can be directly applied on a physical system without using a numerical model.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive hybrid suppression control of space free-flying robots with flexible appendages

2014

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SUMMARYControl of rigid–flexible multi-body systems in space, during cooperative manipulation tasks, is studied in this paper. During such tasks, flexible members such as solar panels may vibrate. These vibrations in turn can lead to oscillatory disturbing forces on other subsystems, and consequently may produce significant errors in the position of operating end-effectors of cooperative arms. Therefore, to design and implement efficient model-based controllers for such complicated nonlinear systems, deriving an accurate dynamics model is required. On the other hand, due to practical limitations and real-time implementation, such models should demand fairly low computational complexity. In this paper, a precise dynamics model is derived by virtually partitioning the system into two rigid and flexible portions. These two portions will be assembled together to generate a proper model for controller design. Then, an adaptive hybrid suppression control (AHSC) algorithm is developed based on an appropriate variation rule of a virtual damping parameter. Finally, as a practical case study a space free-flying robot (SFFR) with flexible appendages is considered to move an object along a desired path through accurate force exertion by several cooperative end-effectors. This system includes a main rigid body equipped with thrusters, two solar panels, and two cooperative manipulators. The system also includes a third and fourth arm that act as a communication antenna and a photo capturing camera, respectively. The maneuver is deliberately planned such that flexible modes of solar panels get stimulated due to arms motion, while obtained results reveal the merits of proposed controller as will be discussed.

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Cooperative Object Manipulation by a Space Robot with Flexible Appendages

Cited by 2 publications

References 36 publications

Trajectory tracking control of a group of cooperative planar space robot systems

Trajectory tracking control of a group of cooperative planar space robot systems

Adaptive hybrid suppression control of space free-flying robots with flexible appendages

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