Dynamics and Trajectory Planning for Reconfigurable Space Multibody Robots

Hu, Quan; Zhang, Jingrui

doi:10.1115/1.4031055

Cited by 12 publications

(4 citation statements)

References 37 publications

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“…We formulate the equations of motion through an improved automatically generating algorithm based on Kane's method which is proposed in Ref. [44] in detail. Reference frames are first introduced.…”

Section: Equations Of Motionmentioning

confidence: 99%

Neural-Network-Based Terminal Sliding Mode Control of Space Robot Actuated by Control Moment Gyros

et al. 2022

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This paper studies the trajectory tracking control of a space robot system (SRS) in the presence of the lumped uncertainties with no prior knowledge of their upper bound. Although some related control methods have been proposed, most of them have either not been applied to SRSs or lack rigorous stability proof. Therefore, it is still a challenge to achieve high accuracy and rigorous theoretical proof for tracking control of SRSs. This paper proposes a new integrated neural network- based control scheme for the trajectory tracking of a SRS actuated by control moment gyros (CMGs). A new adaptive non-singular terminal sliding mode (ANTSM) control method is developed based on an improved radial basis function neural network (RBFNN). In the control method, a new weight update law is proposed to learn the upper bound of the lumped uncertainties. With the advantages of RBFNN and ANTSM, the controller has high control accuracy, fast learning speed and finite-time convergence. Different from most on-ground robotic manipulator controllers, a kinematic controller with position and attitude control laws is also designed for the satellite platform to remain stable. The stability of the closed-loop system is proved by the Lyapunov method with a high mathematical standard. Comparative simulation results demonstrate the effectiveness of the proposed control scheme with preferable performance and robustness.

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Section: Equations Of Motionmentioning

confidence: 99%

Neural-Network-Based Terminal Sliding Mode Control of Space Robot Actuated by Control Moment Gyros

et al. 2022

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“…So the following numerical simulations could be viewed as an effectiveness test of the proposed method. Meanwhile, the control performance would be compared with a centralized controller in [14] and a fully decentralized controller in [40].…”

Section: B Steering Logic Designmentioning

confidence: 99%

“…The first is the singular perturbation control (SPC) [14], which is a centralized controller. The second is a fully decentralized control (FDC) based on adaptive slide mode technique and the second-order extended state observer, described in [40]. Figures 14 and 15 give the tracking performances of the SPC, whereas the results of FDC are shown by Figs.…”

Section: C(j) I=0āmentioning

confidence: 99%

Recursive Decentralized Control for Trajectory Tracking of Flexible Space Manipulators

Zhang

2019

IEEE Access

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A recursive decentralized control scheme is presented for the trajectory tracking issue of flexible space manipulator. In the traditional decentralized control for manipulators, each link in the manipulator is viewed as an isolated second-order subsystem. Its interconnections with other links are viewed as disturbances. As a consequence, the obtained decentralized control has a simple structure but lacks high control performance. In this paper, the manipulator is considered as a set of connected secondorder subsystems. The interconnections between two adjacent links are revealed by the recursive kinematics and dynamics. In such a manner, the nominal value of the interaction forces is constructed and used for compensation to improve the tracking accuracy. Then, decentralized control is devised for each link to achieve trajectory tracking and vibration suppression of the flexible manipulator. The actuators are chosen as the joint motors and the distributed force or torque actuators on the flexible links. Under the assumption that the modal information of the flexible links is obtainable by the modal filter technique, an adaptive term in the controller is deduced for estimating the bound of the model uncertainties. Moreover, a steering logic is devised for the actuators to produce the required control. The obtained controller inherits the simple structure of the decentralized control and also achieves a higher tracking performance. The numerical examples of a free flying flexible manipulator are given to illustrate the effectiveness of the proposed control scheme. INDEX TERMS Decentralized control, flexible space manipulators, recursive dynamics, trajectory tracking.

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“…The Jacobian matrices have been widely used to plan joint level trajectories for constrained systems. 1,2 The matrices have also been used for the synthesis of constrained force algorithms. 3…”

Section: Introductionmentioning

confidence: 99%

Screw theory based method to formulate local Jacobian’ magnitude estimator contours for 6 DoF robots

Kumar

Khatait

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Singularity prediction of Jacobian is inherently related to the design of any manipulator. Optimization of Jacobian is known to improve the joint rates and joint torques for the same set of end-effector twists and wrenches. Any mathematical entity which is an estimator of Jacobian can be used as a manifestation of the stated two schemes. It is required that online computation of Jacobian be implemented so that singular poses can be avoided and performance is maximized. We present an algorithm that relates to the determinant of the Jacobian for robotic manipulators. The algorithm developed is quicker to compute, and a strategy is developed to synthesize the local estimator contour. The contours change dynamically, henceforth optimal motor torques (in case of presence of interaction fields or system requiring force control) and optimal joint rates can be defined, depending on the control algorithm. The algorithm developed is independent of the structure of the matrix and is generalized to any six DoF manipulator structure used.

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Dynamics and Trajectory Planning for Reconfigurable Space Multibody Robots

Cited by 12 publications

References 37 publications

Neural-Network-Based Terminal Sliding Mode Control of Space Robot Actuated by Control Moment Gyros

Neural-Network-Based Terminal Sliding Mode Control of Space Robot Actuated by Control Moment Gyros

Recursive Decentralized Control for Trajectory Tracking of Flexible Space Manipulators

Screw theory based method to formulate local Jacobian’ magnitude estimator contours for 6 DoF robots

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