Force control in single DOF dual arm cooperative space robot

Patolia, Haresh; Pathak, Pushparaj Mani; Jain, S. C.

doi:10.1145/1878537.1878747

Cited by 4 publications

(4 citation statements)

References 5 publications

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“…Many trajectory-tracking control strategies are designed based on the dynamic model. And some control theories for fixedbase ground robots can be introduced to tracking control of space robots, such as decomposition rate control [18], calculating torque control [19], robustness control [20], and reinforcement learning control [21]. Traditional dynamics modelling, which is based on geometric relationships, makes the derivation process relatively complicated.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)

Wang

Gong

Duan

et al. 2023

International Journal of Aerospace Engineering

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For space robots, it is difficult to track continuous time-varying manifolds on SE(3) by using traditional closed-loop control strategies, which are designed to track the position and the attitude separately. Therefore, the dynamics model should be rebuilt, and the corresponding control strategy should be redesigned. Firstly, the dynamics equations for a space robot in the joint space and workspace are established separately in the framework of Lie group SE(3) and screw theory based on the Lagrange principle. Secondly, based on the proposed feedback form, a PD (proportional derivative) control law of output force on the end-effector is designed, and a closed-loop continuous tracking control strategy is proposed using the force Jacobian matrix and the kinematic model. The simulation results show that the control scheme has good performance when the system state changes gently. Furthermore, a robust sliding mode tracking control scheme is designed. The simulation results show that the proposed robust control law has better accuracy than the PD control law because the system state changes wildly. Finally, a robust fuzzy sliding mode tracking control scheme is designed to deal with the chattering phenomenon. The simulation results show that the proposed robust fuzzy control law can eliminate the chattering well and decrease the joint control torque significantly. The robustness of the proposed robust fuzzy control law is also verified by numerical simulation.

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Section: Introductionmentioning

confidence: 99%

Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)

Wang

Gong

Duan

et al. 2023

International Journal of Aerospace Engineering

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“…Ref. [2] presents force control in single degree of freedom dual arm space robot for cooperative manipulation by two arms. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Compliant Control for the Redundant Dual-Arm Live-Working Robot

Gao

Tian

2013

AMM

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Two arms are attached on the live-working robot for cooperating jobs and some task requiring larger stiffness such as pushing and butting when replacing cross arm or insulator. The different kinematic structure of this two arms brings many difficulties to get the dynamic model of the total system. This paper proposes a force control method to solve this problem. Two arms are considered as one arm firstly, then the general stiffness matrix is obtained. And based on the compliant relationship between the dual arms and the environment, the force control method for the exact force control is presented. The scheme is experimentally tested on the live-working robot, and the effectiveness and rapidity is validated .

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“…Nakanishi and Yoshida 12 proposed a method of impedance control for a space manipulator whose end tip is controlled like a mass-damper-spring system fixed at a point in space. Patolia et al 13 presented force control in a single DOF dual arm space robot for cooperative manipulation by two arms. Shibli 14 proposed a controloriented modeling approach of kinematics, dynamics and control of a free-flying space robot interacting with a target satellite.…”

Section: Introductionmentioning

confidence: 99%

Design of a virtual foundation for impedance control in a dual arm cooperative space robot

2011

Self Cite

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This work presents the design of virtual foundation through which impedance control is achieved in a dual arm space robot for cooperative manipulation of arms. A docking operation by the two arms of the space robot has been carried out. During this docking operation, the space robot has a mechanical interaction with the compliant objects which encounter force and motion constraints. The docking operation requires that the object must be gripped and follows a specific path to dock the selected object. By use of the virtual foundation, impedance control is achieved to fulfill both objectives, i.e. force control during gripping and trajectory control during docking. The space robot base compensation is designed to achieve the desired trajectory to control the interaction forces. The methodology has been validated with simulated results.

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Force control in single DOF dual arm cooperative space robot

Cited by 4 publications

References 5 publications

Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)

Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)

Compliant Control for the Redundant Dual-Arm Live-Working Robot

Design of a virtual foundation for impedance control in a dual arm cooperative space robot

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