On some practical reactionless motion tasks with a free-floating space robot

Sone, Hiroki; Nenchev, Dragomir N.

doi:10.1109/icra.2015.7139585

Cited by 4 publications

(1 citation statement)

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“…Several practical tasks can be achieved with reactionless manipulation. 36 If the manipulator is redundant, then the additional DoF of the manipulator can be exploited to achieve desired motion of the chaser satellite, for example, to keep the satellite orientation fixed or to change it to a desired value. An algorithm (based on the Virtual Manipulator concept 37 ) that allows such simultaneous control of the manipulator end-effector and orientation of the satellite is presented by Vafa.…”

Section: Review Of Trajectory Planning Methods For a Manipulator Mounmentioning

confidence: 99%

Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method

Rybus

2019

Robotica

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SUMMARYIt is usually proposed to use a robotic manipulator for performing on-orbit capture of a target satellite in the planned active debris removal and on-orbit servicing missions. Control of the satellite-manipulator system is challenging because motion of the manipulator influences position and orientation of the chaser satellite. Moreover, the trajectory selected for the capture manoeuvre must be collision-free. In this article, we consider the case of a nonredundant manipulator mounted on a free-floating satellite.We propose to use the bi-directional rapidly-exploring random trees (RRT) algorithm to achieve two purposes: to plan a collision-free manipulator trajectory that, at the same time, will result in a desired change of the chaser satellite orientation. Several improvements are introduced in comparison to the previous applications of the RRT method for manipulator mounted on a free-floating satellite. Feasibility of the proposed approach is demonstrated in numerical simulations performed for the planar case in which the chaser satellite is equipped with a 2-DoF (Degree of Freedom) manipulator. The obtained results are analysed and compared with the results obtained from collision-free trajectory planning methods that do not allow to set the desired final orientation of the chaser satellite.

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Section: Review Of Trajectory Planning Methods For a Manipulator Mounmentioning

confidence: 99%