Non-holonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms

Xu, Wenfu; Liu, Yu; Liang, Bin; Xu, Yangsheng; Cheng, Li; Wang, Qiang

doi:10.1163/156855308x294680

Cited by 39 publications

(22 citation statements)

References 32 publications

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“…Agrawal et al extended this method to a three-link spatial space robot in [102]. Using genetic algorithms, a non-holonomic path planning was introduced by Xu et al [103]. The method's advantages are: the motion of the manipulator and the disturbance to the base are practically constrained; the planned motion path is smooth; and the convergence of the algorithm is not affected by the singularities.…”

Section: A1 Non-holonomic Path Planningmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: A1 Non-holonomic Path Planningmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…Moreover, larger variation of the base attitude during the maneuvre is not admissible for safety. So it is necessary to limit the range of the attitude variation: (29) where (t) is the equivalent Euler rotation angle at time t, 0 is its initial value and limit is the limited variation of the base attitude.…”

Section: Constraints Of the Trajectory Planningmentioning

confidence: 99%

“…In this paper, a novel planning method, which is the further research of the previous works [29,27], is proposed to plan the trajectory of a free-floating space robotic system. With the method, the target is berthed to the desired configuration and the base is re-orientated to the desired attitude simultaneously, only by controlling the manipulator joints.…”

Section: Introductionmentioning

confidence: 99%

Target berthing and base reorientation of free-floating space robotic system after capturing

Cheng

Liang

et al. 2009

Acta Astronautica

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“…Therefore space robotic technologies have been emphasized by many countries [4][5][6][7][8]. However, from the 1980s onwards full autonomy of a space robot has been considered an impossible goal in the near future because of the restriction of mechanism, control, sensor and artificial intelligence.…”

Section: Introductionmentioning

confidence: 99%

A Ground-Based Validation System of Teleoperation for a Space Robot

Wang

Liu

et al. 2012

International Journal of Advanced Robotic Systems

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Teleoperation of space robots is very important for future on-orbit service. In order to assure the task is accomplished successfully, ground experiments are required to verify the function and validity of the teleoperation system before a space robot is launched. In this paper, a ground-based validation subsystem is developed as a part of a teleoperation system. The subsystem is mainly composed of four parts: the input verification module, the onboard verification module, the dynamic and image workstation, and the communication simulator. The input verification module, consisting of hardware and software of the master, is used to verify the input ability. The onboard verification module, consisting of the same hardware and software as the onboard processor, is used to verify the processor's computing ability and execution schedule. In addition, the dynamic and image workstation calculates the dynamic response of the space robot and target, and generates emulated camera images, including the hand-eye cameras, globalvision camera and rendezvous camera. The communication simulator provides fidelity communication conditions, i.e., time delays and communication bandwidth. Lastly, we integrated a teleoperation system and conducted many experiments on the system. Experiment results show that the ground system is very useful for verified teleoperation technology.

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Non-holonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms

Cited by 39 publications

References 32 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

Target berthing and base reorientation of free-floating space robotic system after capturing

A Ground-Based Validation System of Teleoperation for a Space Robot

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