Coordination of Motion in a Spacecraft/ Manipulator System

Abstract

A control scheme for the coordination of motion in a space craft/manipulator system is presented. It is shown how end- effector motion can be decoupled from satellite motion, satellite rotation, or total system momentum by selecting suitable gen eralized speeds for the satellite. The schemes are based on recursive calculation of kinematics and dynamics, and 12 degrees of freedom can be controlled without excessive com putational effort. Feedback linearization and decoupling of end-effector motion and total system momentum are discussed in detail. The satellite controller can then be developed in dependently of the manipulator controller, and reaction jets and momentum wheels are used only to reposition the satel lite. The end effector can be controlled accurately with a high bandwidth, while a slow, gross positioning can be used for the satellite. The resulting controller is very efficient in terms of fuel. The spacecraft/manipulator system is regarded as a re dundant manipulator of the macro-micro type with 12 degrees of freedom, and a redundancy resolution scheme based on the augmented task space approach is used to generate the position and orientation reference for the spacecraft. The proposed con troller was simulated with a 12-degrees-of-freedom model that was generated with a recursive formulation of the Jacobians. The results are presented in this article.

On the influence of ship motion prediction accuracy on motion planning and control of robotic manipulators on seaborne platforms

“…Lebans et al [6] give a cursory description of a telerobotic shipboard handling system, and Kosuge et al [7], [8] address the control of robots floating on the water utilizing vehicle restoring forces. Other related research areas are macro/micro manipulators [9], [10], underwater vehicle/manipulator systems [11] and spacecraft/manipulator systems [12]. Most previous work deals with robots mounted on a free-floating base.…”

Advances in grasping and vehicle contact identification : analysis, design and testing of robust methods for underwater robot manipulation

“…Figure [8][9][10][11][12][13][14][15][16][17] shows that the violation energy based metric does ann excellent job of identifying this contact case as a two point contact case. Referring to Figure 8-18 we see that after the initial transient at the beginning of the trial where the vehicle accelerates from rest to a roughly constant angular velocity the technique selects either the correct model or the immediately adjacent model i.e.…”

Dynamic Interaction of a Heavy Crane and a Ship in Wave Motion

“…An important difference compared to the usual robotic dynamics is the orientation of the base which will be given as a rotation matrix R in SO(3), and there will exist no minimum representation of the rotation in terms of generalized coordinates. A model of a manipulator on a spacecraft was presented in Egeland and Sagli (1993) where Kane's equations of motion were used so that generalized speeds could be used instead of generalized coordinates. From et al (2010From et al ( , 2014) derived a singularityfree dynamic equations of a robotic manipulator on a non-inertial base, and showed how the equations of motion could be developed for vehicle-manipulator systems based on Lagrange's equations using Lie group techniques.…”

“…The proposed method is based on projecting the equations of motion for each link using the partial linear velocities and the partial angular velocities defined by the generalized speeds, which was done in Egeland and Sagli (1993) for a spacecraft-manipulator system. An important improvement in this work is that the partial linear velocities and the partial angular velocities are defined as screws in the form of lines in Plücker coordinates.…”