Optimal detumbling trajectory generation and coordinated control after space manipulator capturing tumbling targets

Zong, Lijun; Luo, Jianjun; Wang, Mingming

doi:10.1016/j.ast.2021.106626

Cited by 16 publications

(2 citation statements)

References 32 publications

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“…In [19], a dual-arm robot was used to detumble and capture a cylinder spinning target, and the desired arm motion and contact detumbling are realized by a hybrid control method combining computed torque control and sliding mode control. Liu et al [20] used a position-based overdamping control method to keep the contact continuously during detumbling. Zong et al [21] proposed a shortest-time detumbling trajectory and generated the desired motion through a coordinated controller designed by substituting both the motion of the robot body and the arm joints.…”

Section: Introductionmentioning

confidence: 99%

Contact Detumbling Toward a Nutating Target Through Deformable Effectors and Prescribed Performance Controller

Zang,

Zhang,

et al. 2024

J. of Syst. Eng. Electron.

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Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling. Finally, by employing the proposed effector and the controller, numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.

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Section: Introductionmentioning

confidence: 99%

Contact Detumbling Toward a Nutating Target Through Deformable Effectors and Prescribed Performance Controller

Zang,

Zhang,

et al. 2024

J. of Syst. Eng. Electron.

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“…Joint-velocity limits are further considered in the detumbling and stabilization manipulation [22]. In order to limit the target attitude motion as well as interaction torque at the grasping point, a time-optimal control problem (OCP) is formulated and solved using the calculus of variations method with a highly accurate solution [23]. Taking advantage of the coupling between dynamics of translational and rotational systems, Aghili proposes an optimal controller which can damp out both translational and rotational motions collaboratively and simultaneously [24].…”

Section: Introductionmentioning

confidence: 99%

Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target

Lei

Yuan

et al. 2022

International Journal of Aerospace Engineering

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Capturing and stabilizing tumbling targets using dual-arm space robots are very crucial to on-orbit servicing task. However, it is still very challenging due to the complex dynamics coupling and closed-chain constraints between the manipulators, the base, and the target. In this paper, a kinodynamic trajectory optimization method is proposed to generate the motion of a dual-arm space robot for stabilizing the captured tumbling target, which is formulated and solved as a nonlinear programming problem using direct collocation. Instead of optimizing the trajectory of each joint with the dynamics model of space robot, this method optimizes the trajectory of the tumbling target while considering the kinematics and dynamics constraints between the two arms and the target simultaneously. The objective function of the optimization is defined as weighted detumbling time, base disturbance, and manipulability, in order to avoid singularity and save the energy of space robot for further manipulation. Several physical simulations are carried out to validate the proposed method.

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Directly skill-transferred DMP-based trajectory planning for robot soft-capture of space tumbling targets

Luo

Wang

et al. 2023

Acta Astronautica

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Optimal detumbling trajectory generation and coordinated control after space manipulator capturing tumbling targets

Cited by 16 publications

References 32 publications

Contact Detumbling Toward a Nutating Target Through Deformable Effectors and Prescribed Performance Controller

Contact Detumbling Toward a Nutating Target Through Deformable Effectors and Prescribed Performance Controller

Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target

Directly skill-transferred DMP-based trajectory planning for robot soft-capture of space tumbling targets

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