Momentum conserving path tracking through dynamic singularities with a flexible-base redundant manipulator

Hara, Naoyuki; Nenchev, Dragomir N.; Sun, Qiao; Sato, Daisuke

doi:10.1109/iros.2010.5650609

Cited by 8 publications

(3 citation statements)

References 18 publications

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“…These cases arose because the constraint on realizing reactionless motion was added to tip position control such that the desired joint angular velocity could not be solved for. Thus, the divergence condition due to the addition of the dynamic constraint is called "dynamic singularity," for which a solution has not yet been established [13]. For the future, therefore, it is necessary to construct a control law to avoid or negotiate the dynamic singularity.…”

Section: B Simulation Resultsmentioning

confidence: 99%

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Verification of gait control based on reaction null-space for ground-gripping robot in microgravity

Yuguchi

Nagaoka

Yoshida

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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The surface of a minor body in space features a harsh terrain and microgravity. To explore such surfaces in detail, a robot with an appropriate moving mechanism is required. To this end, we proposed a robot that moves by gripping the surface like a rock climber. We focus on the robot's gait, where the motion of the idling arm generates the reaction force that acts on the gripper of the supporting arm. The reaction force needs to be controlled to maintain a grip without slipping. Therefore, we formulate a simultaneous control law that combines the tip position control of the idling arm with reactionless control by utilizing the reaction nullspace. Moreover, the validity of the control law was confirmed by an experiment involving an air floating system under microgravity. Furthermore, a planar simulation clarified that the robot can move continuously on an irregular terrain.

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Section: B Simulation Resultsmentioning

confidence: 99%

“…Furthermore, the acceptable error ranges ǫ 0 and ǫ d are set to deal with cases where a perfect elliptical trajectory cannot be generated in a direction perpendicular to the surface. By solving the constrained non-linear optimization problem using (8) - (13), the desired elliptical trajectory can be generated.…”

Section: A Tip Position Control 1) Control Lawmentioning

confidence: 99%

Verification of gait control based on reaction null-space for ground-gripping robot in microgravity

Yuguchi

Nagaoka

Yoshida

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…Thus, the divergence condition caused by adding the dynamic constraint condition is called the "dynamic singularity," for which a solution has not yet been established. 12) For the future, therefore, it will be necessary to construct a control law for avoiding or passing through the dynamic singularity.…”

Section: Resultsmentioning

confidence: 99%

Analysis on Motion Control Based on Reaction Null Space for Ground Grip Robot on an Asteroid

Yuguchi

Ribeiro

Nagaoka

et al. 2016

AEROSPACE TECHNOLOGY JAPAN

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The surface of an asteroid features an irregular terrain and microgravity. Therefore, robotic exploration in an asteroid requires the adoption of an appropriate locomotion strategy. Moreover, an exploration robot is expected to be capable of moving to an area of scientific interest. In response to this, we have proposed a ground grip robot that moves by gripping the surface like a rock climber. By gripping the surface, the robot can prevent unintended flotation and rotation while propelling itself across the surface. When the idling arm is moved while the supporting arm's gripper is attached to the surface, all of the reaction forces act on the gripper. If the gripping force is to be exceeded, however, the robot could come adrift from the surface. In this paper, therefore, we propose a motion control method that does not act the reaction force on the gripper by utilizing the reaction null-space. Additionally, the tip position trajectory is generated as an ellipse to enable smooth movement and eliminate any frictional force. This control law was validated by a planar dynamic simulation. The simulation model assumes a dual-armed robot with three degrees of freedom (DOF) in each arm, while the uneven surface is simulated under certain conditions. As a result, the robot was able to move continuously with reactionless motion and the propriety of the control law was confirmed.

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Reactionless camera inspection with a free-flying space robot under reaction null-space motion control

Sone

Nenchev

2016

Acta Astronautica

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Momentum conserving path tracking through dynamic singularities with a flexible-base redundant manipulator

Cited by 8 publications

References 18 publications

Verification of gait control based on reaction null-space for ground-gripping robot in microgravity

Verification of gait control based on reaction null-space for ground-gripping robot in microgravity

Analysis on Motion Control Based on Reaction Null Space for Ground Grip Robot on an Asteroid

Reactionless camera inspection with a free-flying space robot under reaction null-space motion control

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