Modeling and planning of a space robot for capturing tumbling target by approaching the Dynamic Closest Point

Xu, Wenfu; Hu, Zhonghua; Yan, Lei; Yuan, Han; Liang, Bin

doi:10.1007/s11044-019-09683-3

Cited by 16 publications

(7 citation statements)

References 30 publications

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“…It is generally known that an entire capture task contains three phases: the target-chasing control phase, which is also called the pre-contact phase; the contact phase between the target and end-effector of the space robot; and the stabilization control phase of tumbling motion, which is also called the post-contact phase [7,8]. Most research focuses on the pre-contact phase to optimize the capture configuration or follow an optimal trajectory [9][10][11][12], and the post-contact phase to detumble the non-cooperative target or reduce the base attitude disturbance [13][14][15][16]. In this paper, based on the analysis of the contact phase, which emphasizes contact modelling, the capture configuration is optimized to minimize the maximum contact force.…”

Section: Introductionmentioning

confidence: 99%

Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target

Zhang

2022

Aerospace

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The maximum contact force is one of the most important indicators for contact problems. In this paper, the configuration optimization is conducted to reduce the maximum contact force for a free-floating space robot capturing tumbling target. First, the dynamics model of a free-floating space robot is given, with which the inertial properties perceived at the end-effector can be derived. Combing the inertial properties of the contact bodies, a novel concept of integrated effective mass is proposed. It tries to transform the complex contact process into the energy change of a virtual single body with integrated effective mass. On this basis, a more general continuous contact model is established, which is also suitable for non-central collisions between space robot and the tumbling target. Thereafter, the maximum contact force is derived as an important indicator for the null-space optimization method to reduce the maximum contact force. Finally, numerical simulations with a 3-degree-of-freedom free-floating space robot and a 7-degree-of-freedom free-floating space robot, as the research objects, are carried out respectively and the results show the effectiveness of the method proposed.

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Section: Introductionmentioning

confidence: 99%

Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target

Zhang

2022

Aerospace

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“…In the second one, the target must be captured in a close range using only the holonomic manipulator actuators (the docking). Most of the works devoted to control process in Cartesian task coordinates concern an on-orbit docking maneuvers (e.g., with tumbling target) [17][18][19]23] for which, the thrusters are turned off what implies a non-holonomic movement. In [17,19,23], the authors have applied a Jacobian transposed technique with full knowledge of kinematics and dynamics to steer space manipulator to a close target.…”

Section: Introductionmentioning

confidence: 99%

Robust Trajectory Tracking Control of Space Manipulators in Extended Task Space

Banaszkiewicz¹,

Węgrzyn²,

Basmadji³

et al. 2022

PAR

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This study provides a new class of controllers for freeflying space manipulators subject to unknown undesirable disturbing forces exerted on the end-effector. Based on suitably defined taskspace non-singular terminal sliding manifold and the Lyapunov stability theory, we derive a class of estimated extended transposed Jacobian controllers which seem to be effective in counteracting the unstructured disturbing forces. The numerical computations which are carried out for a space manipulator consisting of a spacecraft propelled by eight thrusters and holonomic manipulator of three revolute kinematic pairs, illustrate the performance of the proposed controller.

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“…A object can be cooperatively grasped to move by several fingers of the robot hybrid hand in order to handover objects in a reliable manner while ensuring the safety of the robot and the object. [1][2][3][4][5][6] Generally, a hybrid hand can be formed by a parallel manipulator (PM) and several finger mechanisms. In the hybrid hand, the finger mechanisms are installed uniformly onto the moving platform m of PM.…”

Section: Introductionmentioning

confidence: 99%

“…Comparing with the serial hand, the hybrid hand has higher stiffness, greater load to weight ratio, and larger grasped capability. [5][6][7] Hence, the hybrid hand is wildly applied to robotic arms, forging operations, rescue missions, parallel machine tool, automobile assembly cells, and manipulator in nuclear power station. Generally, a heavy object grasped by the hybrid hand may be the forged part with high temperature, the automobile assembled part or subassembly, the tank with harmful or toxic substance, or the workpiece to be machined.…”

Section: Introductionmentioning

confidence: 99%

“…Yan et al 5 analyzed the manipulation capabilities of the robotic hand, and presented a precision grasp-planning framework for multi-finger hand to grasp unknown objects. Xu et al 6 investigated an autonomous tumbling target capturing method by approaching the "dynamic closest point." Wang et al 7 developed a finger rehabilitation robot for active and passive training to fulfill the requirements of different rehabilitation stages, and established dynamic equations.…”

Section: Introductionmentioning

confidence: 99%

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Dynamics of moving-object grasped by a hybrid hand

Chang

2021

Proceedings of the Institution of Mechanical Engineers, Part K:

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When a heavy object is cooperatively grasped to move by several fingers of the robot hybrid hand, the inertial properties and the mass distribution of the object must influence largely on the operation precision, grasping stability, and the safety of both the hybrid hand and the object. Hence, it is an important and significant issue to establish and analyze the dynamics model of the moving-object cooperatively grasped by the hybrid hand in order to ensure the safety and grasping stability of the hybrid hand and the object. However, this research has not been conducted. In this paper, a dynamics model of the moving-object grasped by the hybrid hand is established, and its dynamics is studied and analyzed. First, a three-dimensional model of a hybrid hand formed by a novel parallel manipulator and three fingers is designed for cooperatively grasping object. Second, the kinematic formulas for solving the Jacobian matrices, the Hessian matrices, the general velocity/acceleration of the moving platform, and four active limbs of the parallel manipulator are derived. Third, the composite Jacobian matrix and the composite Hessian matrix of the hybrid hand are derived, and the general velocity/acceleration of the moving-object grasped by the hybrid hand is derived. Fourth, dynamics model of the hybrid hand is established, the formulas for solving the dynamic actuation forces of the three fingers and the dynamic actuation forces/torque and constrained forces of the parallel manipulator are derived. Finally, the theoretical solutions of the dynamics model of the moving-object grasped by the hybrid hand are verified by its simulation mechanism.

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Modeling and planning of a space robot for capturing tumbling target by approaching the Dynamic Closest Point

Cited by 16 publications

References 30 publications

Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target

Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target

Robust Trajectory Tracking Control of Space Manipulators in Extended Task Space

Dynamics of moving-object grasped by a hybrid hand

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