Dynamics modeling and analysis of a flexible-base space robot for capturing large flexible spacecraft

Xu, Wenfu; Meng, Deshan; Chen, Yong Q.; Qian, Huihuan; Xu, Yangsheng

doi:10.1007/s11044-013-9389-0

Cited by 61 publications

(19 citation statements)

References 29 publications

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“…According to the Jourdain's velocity variation principle, the dynamic equation of space robot could be described as [8]…”

Section: Dynamics Modeling a Dynamics Model Of The Robot And Thementioning

confidence: 99%

“…According to the single direction recursive construction and multibody dynamics methods, the velocity and acceleration of system could be described as [8]…”

Section: Dynamics Modeling a Dynamics Model Of The Robot And Thementioning

confidence: 99%

“…However, this assumption is not valid in most grasping scenarios. According to [8]- [10], the separation phenomenon occurs multiple times before the successful The associate editor coordinating the review of this manuscript and approving it for publication was Min Wang .…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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Grasping a non-cooperative ''customer satellite'' with a robotic arm is a challenging task for on-orbit services of spacecraft since the collision between the robot and the target is inevitable and the dynamic behaviors of the two objects are hard to control after the collision. To grasp successfully, the contact between the space robot and the target is hoped to be maintained after the collision. In this paper, the contact control problem for grasping a non-cooperative satellite is studied. First, to simulate the contact conditions as realistic as possible, the multibody dynamics, the modified Hertz contact, and the contact detection theory are employed to establish a grasping dynamics model. Then, based on the study on the dynamic behavior of the two-ball collision problem, a hybrid control scheme with damping and attitude tracking controllers is proposed. By this scheme, the control goal, i.e. maintaining the contact between the robot and the target, can be realized after multiple collisions. Finally, numerical simulations are performed to validate the proposed control scheme, and the results demonstrate its effectiveness in grasping a non-cooperative tumbling satellite.

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“…According to the Jourdain's velocity variation principle, the dynamic equation of space robot could be described as [8]…”

Section: Dynamics Modeling a Dynamics Model Of The Robot And Thementioning

confidence: 99%

“…According to the single direction recursive construction and multibody dynamics methods, the velocity and acceleration of system could be described as [8]…”

Section: Dynamics Modeling a Dynamics Model Of The Robot And Thementioning

confidence: 99%

See 1 more Smart Citation

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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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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“…Moreover, in order to simplify the kinematic analysis, path planning and dynamic control, three important conceptsVirtual Manipulator (VM) [22], Dynamically Equivalent Manipulator (DEM) [23], and Generalized Jacobian Matrix (GJM) [24] -have been proposed in the past. However, few literatures have addressed the dynamics modeling and control of a flexible-base space robot capturing a large flexible satellite [25]. It is worth to note that satellites for communications, weather forecasting and Earth observation, are growing in size to meet even more and more demanding mission requirements.…”

Section: Introductionmentioning

confidence: 99%