Engineering Test Satellite VII Flight Experiments for Space Robot Dynamics                and Control: Theories on Laboratory Test Beds Ten Years Ago, Now in Orbit

Yoshida, Kazuya

doi:10.1177/0278364903022005003

Cited by 234 publications

(75 citation statements)

References 22 publications

(30 reference statements)

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“…(2) The axis x i is perpendicular to the axis z i−1 and points away from z i−1 . (3) The axis y i is defined such that the resulting frame be right-handed.…”

Section: Body-fixed Frames and Rotation Matricesmentioning

confidence: 99%

“…A space manipulator system is able to accomplish various tasks such as ORU (orbital replacement unit), transportation of astronauts from one place to another, maintenance and construction of the International Space Station (ISS), capturing a tumbling or failed satellite, or other on-orbit servicing missions. The ETS-VII satellite [1,2], the Orbital Express project [3], and the TECSAS project [4] cooperated by Germany and Russia are the preliminary engineering research activities in this field. An inevitable situation faced by the space manipulator in performing these tasks is the parametric uncertainties and variations.…”

Section: Introductionmentioning

confidence: 99%

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On the Recursive Adaptive Control for Free-floating Space Manipulators

Wang¹,

Xie²

2011

J Intell Robot Syst

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This paper is devoted to investigating the recursive implementation schemes of adaptive control for free-floating space manipulators. Using spatial vector tool and some physical properties that free-floating space manipulators enjoy, we establish a general framework on the seeking of the centripetal and Coriolis matrix that satisfies the skew symmetry requirement. Under this general framework, we propose a recursive adaptive algorithm for free-floating manipulators, which is composed of two parts: the first part is the recursive derivation of the required manipulator control torques, and the second part is the recursive updating of the spacecraft reference velocity and acceleration. To guarantee the uniform positive definiteness of the estimated spacecraft inertia, we present a parameter projection algorithm to project the estimated parameters into some pre-specified parameter region. In the next, we extend the proposed recursive adaptive algorithm to task-space control of free-floating space manipulators. We examine the performance of the proposed recursive adaptive algorithms via numerical simulation on a six-DOF space manipulator.

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“…(2) The axis x i is perpendicular to the axis z i−1 and points away from z i−1 . (3) The axis y i is defined such that the resulting frame be right-handed.…”

Section: Body-fixed Frames and Rotation Matricesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

On the Recursive Adaptive Control for Free-floating Space Manipulators

Wang¹,

Xie²

2011

J Intell Robot Syst

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“…Examples for such missions are discussed in more detail by Yoshida (2003), Shoemaker and Wright (2004), Reintsema et al (2010), Barnhart et al (2013). The use of spacecraft-mounted robotic manipulator systems for the assembly and maintenance of spacecraft has a long and successful history with the Space Shuttle and International Space Station programs.…”

Section: Introductionmentioning

confidence: 99%

“…The Generalized Jacobian approach was used successfully in running simulations and developing control algorithms for the ETS-VII demonstrator mission (Yoshida, 2003). The approach was also further generalized to serve as a description for any under-actuated manipulator system (Yoshida and Nenchev, 1998).…”

Section: Introductionmentioning

confidence: 99%

Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer's Tutorial

et al. 2018

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The paper provides a step-by-step tutorial on the Generalized Jacobian Matrix (GJM) approach for modeling and simulation of spacecraft-manipulator systems. The General Jacobian Matrix approach describes the motion of the end-effector of an underactuated manipulator system solely by the manipulator joint rotations, with the attitude and position of the base-spacecraft resulting from the manipulator motion. The coupling of the manipulator motion with the base-spacecraft are thus expressed in a generalized inertia matrix and a GJM. The focus of the paper lies on the complete analytic derivation of the generalized equations of motion of a free-floating spacecraft-manipulator system. This includes symbolic analytic expressions for all inertia property matrices of the system, including their time derivatives and joint-angle derivatives, as well as an expression for the generalized Jacobian of a generic point on any link of the spacecraft-manipulator system. The kinematics structure of the spacecraft-manipulator system is described both in terms of direction-cosine matrices and unit quaternions. An additional important contribution of this paper is to propose a new and more detailed definition for the modes of maneuvering of a spacecraft-manipulator. In particular, the two commonly used categories free-flying and free-floating are expanded by the introduction of five categories, namely floating, rotation-floating, rotation-flying, translation-flying, and flying. A fully-symbolic and a partially-symbolic option for the implementation of a numerical simulation model based on the proposed analytic approach are introduced and exemplary simulation results for a planar four-link spacecraft-manipulator system and a spatial six-link spacecraft manipulator system are presented.

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“…One broad area of application is in the servicing, construction, and maintenance of satellites and large space structures in orbit. Therefore, space robotic technologies have been emphasized by many countries [4,9,10,25,30,35]. In general, a typical servicing operation mainly includes the following four phases: (a) capturing the target using space robots, (b) berthing and docking the target, (c) re-orientating the coupled satellite pair, and (d) repairing the target.…”

Section: Introductionmentioning

confidence: 99%