Experimental studies for control of manipulators mounted on a free-flying space robot

Murotsu, Yoshisada; Senda, Kei; Mitsuya, Akira; Fujii, Kazuma

doi:10.1109/iros.1993.583926

Cited by 7 publications

(5 citation statements)

References 17 publications

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“…Then the quaternion can be calculated by the numerical integration of (20). For two coordinate systems, their orientations being represented by η 1 , q 1 and η 2 , q 2 , respectively, the relative attitude is given by δη, δq, where [29]:…”

Section: Quaternion Representation Of the Base Attitudementioning

confidence: 99%

“…The base attitude (represented by a quaternion) can be calculated by numerically integrating (20). Thus, the system state X is the function of parameter a and the state error is of the following form:…”

Section: Parameterization Of the Joint Pathmentioning

confidence: 99%

“…Belousov et al propose two 'two-stage' iterative algorithms, which provide collision-free robot motion taking into account robot dynamics for the large space robot manipulators [18]. Other methods are shown in Refs [19][20][21].…”

Section: Introductionmentioning

confidence: 99%

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Non-holonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms

Liu

Liang

et al. 2008

Advanced Robotics

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In this paper, the non-holonomic characteristic of a free-floating space robotic system is used to plan the path of the manipulator joints, by whose motion the base attitude and the manipulator joints attain the desired states. Here, we parameterize the joint trajectory using sinusoidal functions, whose arguments are high-order polynomials. Then, we define the cost function for optimization according to the constraint conditions and the accuracy of the space robot. Finally, genetic algorithms (GAs) are used to search for the solutions of the parameters. Compared with others, our approach has advantages as follows. (i) The motion of the manipulator and the disturbance on the base are practically constrained. (ii) The dynamic singularities cannot affect the algorithm since only the direct kinematic equations are utilized. (iii) The planned path is smooth and more applicable for the control of the manipulator. (iv) The convergence of the algorithm is not affected by the attitude singularity since the orientation error is represented by quaternion, which is globally singularity-free. The simulation results of the spacecraft with a 6-d.o.f. manipulator verify the performance and the validity of the proposed method.

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Section: Quaternion Representation Of the Base Attitudementioning

confidence: 99%

Section: Parameterization Of the Joint Pathmentioning

confidence: 99%

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Non-holonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms

Liu

Liang

et al. 2008

Advanced Robotics

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“…3) Studies on capturing or grasping space robots by vision were conducted using a flat table [4][5][6][7] and 3D motion simulators on the ground. 8,9) However, these studies did not consider space lighting conditions, and relied on specially designed vision markers to easily identify and track the targets by vision processing.…”

Section: Introductionmentioning

confidence: 99%

Rescuing a Stranded Satellite in Space-Experimental Robotic Capture of Non-Cooperative Satellites-

Inaba

Oda

Asano³

2006

Trans. Japan Soc. Aero. S Sci.

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Increased space activity has frequently caused satellites to enter the wrong orbits for their missions and become stranded due to rocket failure. Therefore, a rescue system is needed to tow them back to their appropriate orbits. Manipulator capture using visual servoing is one of the most promising ways to capture a stranded satellite with no mechanical interface or visual marker. A study is being conducted to design a manipulator-based capturing system that focuses on the final tracking and capturing of non-cooperative targets and allows for special aspects, such as lighting and available computing power in space. This paper presents the results of our experiments and an explanation of the system.

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“…While floated, the manipulator can move on a two-dimensional planar table without friction. Many experimental systems adopt air-bearing technology, such as the testbeds of Stanford University, the space manipulator testbed of University of Osaka Prefecture [9], and the Experimental Free-Floating Robot Satellite (EFFORTS). The friction of air-bearings is so little that the movement of the manipulator on the testbed can equivalent to the movement of a free-floating space manipulator in the agravic space.…”

Section: Introductionmentioning

confidence: 99%

A Robotic Testbed for Positioning and Attitude Accuracy Test of Space Manipulator

Xue

Wang

Liang³

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, a novel testing method for onground test of space manipulator is introduced. The configurations of the testbed and the manipulator are described in detail. To accomplish the test of three-dimensional movement, a modified testbed using air-bearings is designed. By adopting the two-step testing method, which is presented in this paper, the three-dimensional positioning accuracy and the threedimensional attitude accuracy of the space manipulator can be measured. The main idea of this method is to divide a threedimensional movement into two planar movements, which can be performed on the testbed. The equations of data processing are deduced. The analysis shows that the mentioned testing method is practical for the research of space manipulators.

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Experimental studies for control of manipulators mounted on a free-flying space robot

Cited by 7 publications

References 17 publications

Non-holonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms

Non-holonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms

Rescuing a Stranded Satellite in Space-Experimental Robotic Capture of Non-Cooperative Satellites-

A Robotic Testbed for Positioning and Attitude Accuracy Test of Space Manipulator

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