Least-Squares-Based Reaction Control of Space Manipulators

Cocuzza, Silvio; Pretto, Isacco; Debei, S.

doi:10.2514/1.45874

Cited by 56 publications

(35 citation statements)

References 47 publications

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“…Generalized Jacobian is used to solve closed-loop IK for task of space robotic system. Recently an IK solution based on Least Squares to locally minimize the reaction from redundant manipulators to the spacecraft is proposed [7]. This IK solution can take the physical and mechanical constraints of the robot, in terms of joints angel, velocity and acceleration, into the algorithm of solution directly [7,8], while it also might be possible to avoid the algorithm instabilities [9].…”

Section: Literature Reviewmentioning

confidence: 99%

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Li¹,

Xiu-Tian²

2019

Int J Astronaut Aeronautical Eng

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There are a number of challenges in space exploration missions and a growing challenge is the economic and efficient removal of space debris. A number of methods have been studied in literature to remove space debris which increase rapidly. This paper presents a novel method for capturing a targeted space debris in space using a robot with redundant degrees of freedom enabled with the assistance of haptic guidance. The proposed method features transferring a null reaction torque to the base spacecraft during the operation. The robot and the endeffector is controlled and manipulated by an operator with the assistance of a haptic guidance based controller that makes the position and velocity errors converge to zero before reaching the target at a desired velocity. The proposed method is demonstrated by means of dynamic and graphic simulations using a haptic interface to drive the robot. These simulations have shown a satisfactory performance in capturing the target space debris by showing a spacecraft can be maintained stable as null reaction torque is transferred during the rendezvous and interaction between the robot and the space debris. The haptic guidance method implemented in a dynamic controller enabled an operator to perform planned tasks, whilst it still allowed a full control of the robotic manipulator by the human operator. This shows great advantages comparing to the current approaches for capturing target, where haptic assistance is not introduced or the path control is not dynamic.

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Section: Literature Reviewmentioning

confidence: 99%

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Li¹,

Xiu-Tian²

2019

Int J Astronaut Aeronautical Eng

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“…Furthermore, the desired trajectory of each joint can be obtained by integrating Equation (24). For redundant space manipulators, proper trajectory planning for joints can minimize base disturbance, kinetic energy, joint torques, and avoid singularities and physical joint limits [38,39]. This paper mainly studies the 3 DOF space manipulator, which has the minimum number of joints to meet the requirements of two-dimensional motion.…”

Section: Position-based Impedance Control For Space Manipulatormentioning

confidence: 99%

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

Kang

Zhang

et al. 2020

Sensors

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The contact force/torque between the end-effector of the space manipulator and the target spacecraft will reduce the efficiency and safety of the capture task. A capture strategy using PD-impedance combined control algorithm is proposed to achieve compliant contact between the chaser and target spacecraft. In order to absorb the impact energy, a spring-damper system is designed at the end-effector, and the corresponding dynamics model is established by Lagrange’s equation. Then a PD-impedance control algorithm based on steady-state force tracking error is proposed. Using this method, a compliant contact between the chaser and target spacecraft is realized while considering the dynamic coupling of the system. Finally, the general equation of the reference trajectory of the manipulator end-effector is derived according to the relative velocity and impact direction. The performance of the proposed capture strategy is studied by a co-simulation of MSC Adams and MATLAB Simulink in this paper. The results show that the contact plane at the end-effector of the manipulator can decelerate and detumble the target spacecraft. Besides, the contact force, relative velocity, and angular velocity all decrease to zero gradually, and the final stable state can be maintained for a prescribed time interval.

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“…Xie, Y. et al propose a path planning algorithm based on Gauss-Newton iteration method for the motion path of space manipulators [11]. In summary, various approaches have been proposed to deal with the path planning problem of the manipulator, such as Enhanced Disturbance Map (EDM) [12], Least-Squares-Based Reaction Control (LSBRC) [13], Cyclic Arm Motion (CAM) [14], Reaction Null-Space (RNS) [15], etc. The above mentioned studies focus mainly on the path planning for the end-effector.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance and Path Planning for Multi-Joint Manipulator in a Space Robot

Xie

Zhang

et al. 2020

IEEE Access

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An obstacle avoidance and path planning algorithm for a multi-joint manipulator in a space robot is presented in this paper. In this paper, the end-effector of the manipulator is used to capture some special target in a space environment with obstacles. To ensure the safety of the operation, a collisionfree path from the initial position to the target position is essential. Therefore, an obstacle avoidance and path planning algorithm based on the Rapidly-Exploring Random Tree (RRT) algorithm and the Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm is presented in this paper. First, a path planning algorithm based on the Rapidly-Exploring Random Tree (RRT) algorithm is designed for the multi-joint manipulator. Further, a method to generate a random point by artificial guidance is introduced for a higher searching speed. The RRT algorithm can effectively explore the entire workspace and find a feasible path without collision for the end-effector. To calculate the positions of each joint, the Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm is introduced and improved for the problem of inverse kinematics. The FABRIK algorithm avoids the use of rotational angles or matrices, and instead finds each joint position by locating a point on a line, and thus, it has a low computational cost. Therefore, the improved obstacle avoidance and path planning algorithm can quickly plan a feasible path for the multijoint manipulator in a space environment with obstacles. A numerical simulation is carried out to analyze the proposed obstacle avoidance and path planning method. It is observed that the method finds a feasible path without collision for the multi-joint manipulator with a low computational cost. These results validated the effectiveness of the proposed method for path planning to avoid the obstacles. INDEX TERMS FABRIK, multi-joint manipulator, obstacle avoidance, path planning, rapidly-exploring random tree.

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Least-Squares-Based Reaction Control of Space Manipulators

Cited by 56 publications

References 47 publications

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

Obstacle Avoidance and Path Planning for Multi-Joint Manipulator in a Space Robot

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