Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Gasbarri, Paolo; Pisculli, Andrea

doi:10.1016/j.actaastro.2015.01.024

Cited by 50 publications

(14 citation statements)

References 28 publications

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“…In industrial applications and robotic systems, single-link flexible manipulators (SLFM) are expected to work optimally during operation. Researchers who study flexible manipulators for space can be found in many reputable journals, such as [1][2][3][4][5][6]. For the application of space robots, a manipulator robot is designed to lift relatively small objects such as rock samples and remove existing obstacles so that the manipulator must be able to carry out operations with better positioning accuracy.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of a Single-Link Flexible Manipulator Robot With Translational and Rotational Motions

Dermawan

Hashemi

Syam

et al. 2020

IIUMEJ

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The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products. This study aims to formulate the equation of motion of a flexible single-link manipulator system that moves translationally and rotationally and to develop computational codes with finite element methods in performing dynamic simulation on the vibration of the flexible manipulator system. The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a trajectory to transfer link in translational motion, and servo motor to rotate link. Computational codes in time history response (THR) and Fast Fourier Transform (FFT) processing were developed to identify the dynamic behavior of the link. The finite element-method and Newmark-beta are used in simulating the SLFM. Simulation using the finite element method has displayed dynamic behavior through a graph of FFT on free vibration and THR graph on forced vibration by the excitation force due to the translational and rotational motions of the system. In the simulation of free vibration, the natural frequency of the system is 8.3 [Hz].

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Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of a Single-Link Flexible Manipulator Robot With Translational and Rotational Motions

Dermawan

Hashemi

Syam

et al. 2020

IIUMEJ

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“…A chaser starting at a sufficiently far-away hold position and executing a free-flying roto-translation maneuver is then required. This type of maneuver has been extensively studied with a wide variety of guidance and control approaches, such as: optimal control (Aghili, 2008 , 2009a ; Seweryn and Banaszkiewicz, 2008 ; Boyarko et al, 2011 ), optimization-based (Jacobsen et al, 2002 ; Lampariello, 2010 ; Lampariello and Hirzinger, 2013 ; Gasbarri and Pisculli, 2015 ; MacPherson et al, 2018 ), model predictive control (Rybus et al, 2017 ), and rapidly-exploring random trees (Persson and Sharf, 2015 ; Rybus and Seweryn, 2015 ).…”

Section: Introductionmentioning

confidence: 99%

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Virgili-Llop

Romano

2019

Front. Robot. AI

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A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material.

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“…The related research [4][5][6][7][8][9] shows that the space robot is in a free-floating state during the process of capturing the target, and the collision from the target contact may lead to a large pulse momentum. The strong dynamic coupling between the spacecraft base and the manipulator may lead to instability of the attitude of the space robot base, which in turn may cause problems such as space robot rollover.…”

Section: Introductionmentioning

confidence: 99%

Research on Adaptive Reaction Null Space Planning and Control Strategy Based on VFF–RLS and SSADE–ELM Algorithm for Free-Floating Space Robot

Dong

Hong

2019

Electronics

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With the increase of on-orbit maintenance and support requirements, the application of a space manipulator is becoming more promising. In actual operation, the strong coupling of the free-floating space robot itself and the unknown disturbance of the contact target caused a major challenge to the robot base posture control. Traditional Reaction Null Space (RNS) motion planning and control methods require the construction of precise dynamic models, which is impossible in reality. In order to solve this problem, this paper proposes a new Adaptive Reaction Null Space (ARNS) path planning and control strategy for the contact of free-floating space robots with unknown targets. The ARNS path planning strategy is constructed by the Variable Forgetting Factor Recursive Least Squares (VFF–RLS) algorithm. At the same time, a robust adaptive control strategy based on the Strategy Self-Adaption Differential Evolution–Extreme Learning Machine (SSADE–ELM) algorithm is proposed to track the dynamic changes of the planned path. The algorithm enables us to intelligently learn and compensate for the unknown disturbance. Then, this paper constructs a robust controller to compensate model uncertainty. A striking feature of the proposed strategy is that it does not require an accurate system model or any information about unknown attributes. This design can dynamically implement RNS path tracking performance. Finally, through simulation and experiment, the proposed algorithm is compared with the existing methods to prove its effectiveness and superiority.

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Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Cited by 50 publications

References 28 publications

Dynamic Modeling of a Single-Link Flexible Manipulator Robot With Translational and Rotational Motions

Dynamic Modeling of a Single-Link Flexible Manipulator Robot With Translational and Rotational Motions

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Research on Adaptive Reaction Null Space Planning and Control Strategy Based on VFF–RLS and SSADE–ELM Algorithm for Free-Floating Space Robot

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