Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

Zarafshan, Payam; Moosavian, S. Ali A.

doi:10.1016/j.cnsns.2013.03.004

Cited by 15 publications

(11 citation statements)

References 35 publications

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“…Such modeling will depend on the configuration of each robot, e.g. differential type [45], [46], omnidirectional [47], classic tricycle [48], unicycle [49], and another configurations [50], [51]. It is important to mention that these models do not contemplate the slip, which is caused due to uneven ground.…”

Section: Wheeled Mobile Robotsmentioning

confidence: 99%

Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Sosa-Cervantes

Silva‐Ortigoza

Márquez-Sánchez

et al. 2014

2014 International Conference on Mechatronics, Electronics and Automotive Engineering

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Over the last decades, research on the trajectory tracking task in wheeled mobile robots (WMR) has grown steadily. Nowadays, the WMR are present in most of the existing scientific fields, likewise, they have a wide number of applications in society. Therefore, this paper gives a literate review related to the trajectory tracking task in WMR. At the same time, a brief history of robotics, application of WMR, and the most relevant solutions for the trajectory tracking task are presented.

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Section: Wheeled Mobile Robotsmentioning

confidence: 99%

Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Sosa-Cervantes

Silva‐Ortigoza

Márquez-Sánchez

et al. 2014

2014 International Conference on Mechatronics, Electronics and Automotive Engineering

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“…Rastegari and Moosavian suggested a multiple impedance control approach for free-flying space robots to track the path and tune the inner forces at the same time [ 23 ]. Zarafshan and Moosavian investigated the dynamics of space robot with flexible elements and proposed a hybrid suppression control method [ 24 ]. Considering that pure motion control is not applicable for the satellite-capturing tasks, sensor-based control methods are also applied in space robot engineering.…”

Section: Introductionmentioning

confidence: 99%

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras

Wang

Liu

2016

Sensors

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Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme.

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“…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. Also, obtaining an optimum amount for the virtual damping in a flexible field mobile robotic system has been addressed.…”

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%

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

2014

Self Cite

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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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Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

Cited by 15 publications

References 35 publications

Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras

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

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