Impact Dynamic Modeling and Adaptive Target Capturing Control for Tethered Space Robots With Uncertainties

Huang, Panfeng; Wang, Dongke; Meng, Zhongjie; Zhang, Fan; Liu, Zhengxiong

doi:10.1109/tmech.2016.2569466

Cited by 135 publications

(28 citation statements)

References 34 publications

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“…The reliably on non-graspable objects, with an average success rate of 86% in the capturing tasks. Furthermore, with the qualitative comparative analysis, the proposed method has the following advantages: 1) Compared with tether nets [18], [19], tether grippers [20], [21], and unit-type caging methods [22], the proposed end-effectors are affixed at the end of robotic arms to form a combined cage; hence, is a simpler and easier-to-implement caging method with high reusability and reliability. 2) For a robotic tentacle [23], it is difficult to capture the non-graspable object in Fig.…”

Section: Discussionmentioning

confidence: 99%

“…Due to the vacuum and high-temperature-difference environment and practical factors such as weight and volume restriction requirements, these methods [14]- [16] are impracticable for grasping non-graspable objects in space [17]. For dealing with this class of objects, two main strategies are employed: One is to use flexible capturing theories and methods, including tether nets [18], [19], tether grippers [20], [21], robotic capsules [22] and robotic tentacles [23]; the other is to capture objects using robotic arms with customized capture effectors, of which end-effectors are the most important tools as they can directly determine the success of tasks [24]. An innovative strategy is proposed for adhering directly to the surfaces of objects and an electro-adhesive gripper [17] and a gecko-inspired adhesive gripper [3] are d e v el o pe d f o r ca p t u ri n g n o n -g ra sp a bl e o b je cts.…”

Section: Introductionmentioning

confidence: 99%

“…The flexible methods are considered attractive solutions because they are adaptive for graspable and non-graspable objects, regardless of shape features. However, in practice, flexible capturing methods [18]- [21] are not easy to implement. The main challenge in using tether nets and grippers is to properly fold, release, and control them because their flexible materials easily become entangled, which may result in the failure of the entire mission.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

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Capture and removal of space debris is challenging in robotic on-orbit servicing (OOS) activities. A large portion of space debris does not possess any graspable features, which makes conventional grippers inapplicable. To handle such non-graspable objects, a space robotic capture system is presented. A dual-arm space robot simulator that has the advantages of miniaturization and scalability is designed for ground tests. Inspired by robotic caging, we propose a novel capture method that uses a series of hollow-shaped end-effector pairs to cage the antipodal pairs of non-graspable objects. To apply the caging-pair method steadily, space robots need exerting a squeezing action on objects, which can be characterized by the motion and force manipulation of two robotic arms in the assigned directions. Based on the velocity and force manipulability transmission ratios, a caging compatibility index is proposed to describe the capturing ability in this manner. Via the optimization of the desired caging compatibility index, an effective algorithm is proposed to plan near-optimal joint configurations for pre-grasping cages. Finally, both simulation studies and experimental tests are conducted to evaluate the performance of the proposed capture method. Index Terms-Non-graspable objects, space robot simulator, caging-pair method, caging compatibility index. R ! ! q q w J v J J Mv k J T Mv E k k k = t k J

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

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“…11,12 In addition, target capture is an essential and key mission for the tethered space robot, which requires controlling a gripper, a space tether and a space platform at the same time. [13][14][15] Using those techniques, a single operator has to adopt multiple cooperated patterns to complete the complex operational tasks. In order to avoid investing extra manpower and material resources, it has become necessary to find a new way to increase sources for generating control signals and efficiently representing their control intentions.…”

Section: Introductionmentioning

confidence: 99%

Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot

Mao

Xiao

Song

et al. 2017

International Journal of Advanced Robotic Systems

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This article presents a strategy for hand-free control of an NAO humanoid robot via head gesture detected by Google Glassbased multi-sensor fusion. First, we introduce a Google Glass-based robot system by integrating the Google Glass and the NAO humanoid robot, which is able to send robot commands through Wi-Fi communications between the Google Glass and the robot. Second, we detect the operator's head gestures by processing data from multiple sensors including accelerometers, geomagnetic sensors and gyroscopes. Next, we use a complementary filter to eliminate drift of the head gesture reference, which greatly improves the control performance. This is accomplished by the high-pass filter component on the control signal. Finally, we conduct obstacle avoidance experiments while navigating the robot to validate the effectiveness and reliability of this system. The experimental results show that the robot is smoothly navigated from its initial position to its destination with obstacle avoidance via the Google Glass. This hands-free control system can benefit those with paralysed limbs.

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“…Tethered space robot (TSR) systems consist of a gripper, a space tether and a space platform ( Figure 1) for future use in on-orbit services, such as on-orbit maintenance, on-orbit refuelling, auxiliary orbit transfer and space debris removal [1][2][3][4][5][6]. Many problems may arise during the TSR capture mission that is usually separated into deployment, approach, capture and postcapture phases [7,8] .…”

Section: Introductionmentioning

confidence: 99%

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

Huang

Wang

Zhang

et al. 2016

Intl J Robust & Nonlinear

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Summary Stabilization control is an essential mission for the tethered space robot‐target combination during the postcapture phase of tethered space robot (TSR). In this paper, the stabilization problem of such a tumbling combination is studied. With the consideration of the space tether and the attitude of the TSR's gripper, the dynamic model of the combination is first derived using Lagrange method. Then a robust nonlinear controller for the combination is proposed based on the backstepping control method. Considering the constraint on the velocity of the space tether, command filter method is utilized to guarantee the velocity of the space tether within a permitted range. A feedback term is designed to compensate the saturation of the thruster. Moreover, an adaptive law is designed to estimate the disturbance of parameter uncertainties and this disturbance is compensated in the proposed controller. Numerical simulations suggest that the proposed robust controller can realize the orbit and attitude stabilization of the combination; besides, the velocity of the space tether is effectively constrained and the parameter uncertainties of the combination can be compensated via the adaptive law. Copyright © 2016 John Wiley & Sons, Ltd.

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Impact Dynamic Modeling and Adaptive Target Capturing Control for Tethered Space Robots With Uncertainties

Cited by 135 publications

References 34 publications

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

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