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

Sone, Hiroki; Nenchev, Dragomir N.

doi:10.1016/j.actaastro.2016.08.027

Cited by 12 publications

(3 citation statements)

References 48 publications

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“…Many scholars attempted to capture non-cooperative targets in RNS; however, it has a limitation for the multi-Degree of Freedom (DOF) space robot due to the unavailability of a workspace. 21,22 Later, various trajectory planning methods were proposed, allowing the robot tip to track the desired path while eliminating dynamic singularity. [23][24][25] Hauser 26 provided motion planning scheme for dealing with dynamic singularities in redundant robots by changing the curvature of the Bezier curve.…”

Section: Introductionmentioning

confidence: 99%

Multi-segment trajectory tracking of the redundant space robot for smooth motion planning based on interpolation of linear polynomials with parabolic blend

Shrivastava

Dalla

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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This work presents multi-segment trajectory tracking of the redundant space robot for smooth motion planning based on interpolation of linear polynomials with the parabolic blend. First, direct kinematics equation is inhibited with cuckoo search algorithm (CSA) to avoid orientation singularity. Second, the Bezier curve has been used to depict the shape of the joint trajectory by interpolating linear polynomials with the parabolic blend. Third, CSA is used to find the optimal solution of joint trajectories by satisfying the imposed constraints (joint velocity and acceleration).Fourth, various influencing variables, such as joint angles, joint rates, joint accelerations, end-effector attitude quaternion, end-effector position, and base attitude orientation are optimized so that the end-effector smoothly achieves the desired pose by stabilizing the base attitude. At last, the jerk minimized motion planning scheme is executed concerning imposed constraints such as (joint angles, angular velocities, angular accelerations, and torque). The proposed methodology of a redundant 7 Degree of Freedom (DOF) space robot has validated the efficacy of the proposed method. Using this method, a smooth trajectory path is achieved by controlling base attitude orientation while maintaining the end-effector pose during task completion. Additionally, with proposed jerk minimized motion planning, the manipulator vibration is reduced.

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Section: Introductionmentioning

confidence: 99%

Multi-segment trajectory tracking of the redundant space robot for smooth motion planning based on interpolation of linear polynomials with parabolic blend

Shrivastava

Dalla

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…For on-orbit robotic detection missions, the space robot gradually approaches the large structure, and then the manipulator carries various measuring instruments [6]- [8] to detect and locate the damage source. During this period, the base position is not controlled, but the pointing accuracy of the end-effector and the attitude stability of the base should be guaranteed simultaneously during the operation [9], [10]. Herein, we term this partial base control mode [11] as semifloating mode in which the base attitude and the manipulator are under control but the base position is not controlled.…”

Section: Introductionmentioning

confidence: 99%

Attitude Decoupling Control of Semifloating Space Robots Using Time-Delay Estimation and Supertwisting Control

Zhang

Liu

Tong

et al. 2021

IEEE Trans. Aerosp. Electron. Syst.

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Dynamic coupling is an inherent behavior of the space robot system, which seriously affects the motion accuracy of the system. This paper focuses on how to guarantee the base attitude stability of semi-floating space robots, from a control perspective, namely, the base attitude decoupling control. The quaternion representation of the system dynamics is derived to avoid the representation singularity of the Euler angles. In consideration of the complicated system dynamics and the limited computing ability of the on-board computer, an efficient decoupling controller is designed based on the time-delay estimation (TDE) and the super-twisting control (STC). Herein, for the proposed TDE-based STC (TDE-STC) scheme, TDE is used to decouple and linearize the nonlinear dynamics, and STC is a second-order sliding mode control (SMC) algorithm which can compensate for the TDE error and drive the state variables to converge to the equilibrium point robustly in finite time. The model-free decoupling principle of TDE is clearly illustrated by comparison with the classical computed-torque control (CTC). The global asymptotical stability analysis of the closed-loop system is proven using the Lyapunov theory and the linear matrix inequality (LMI) theorem. Finally, several comparative simulation studies on a three-dimensional (3-D) space robot system with consideration of joint friction, disturbances, and model uncertainties are conducted to verify the effectiveness of the proposed TDE-STC scheme. The corresponding results show that the TDE-STC scheme can achieve a high-accuracy attitude decoupling performance with both the model-free merits and the chatter-free merits.

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“…Papadopoulos, and Dubowsky [17] investigated the singularities of GJM and found that the singularities of GJM were related to not only the geometry parameters but also the inertia parameters of space robots; such singularities are also called dynamic singularities. Different from kinematic singularities, dynamic singularities do not form static manifolds and thus it is difficult to determine the singular distributions, which is a serious problem for planning and controlling the manipulator of space robots [18]. Furthermore, the concepts of Path Dependent Workspace (PDW) and Path Independent Workspace (PIW) [17] were proposed to avoid dynamic singularities.…”

Section: Introductionmentioning

confidence: 99%

Kinematic-Dynamic Analysis of the Cam-Worm Mechanism for Humanoid Robots Shrug

Penčić

Čavić

Rackov

et al. 2018

New Advances in Mechanism and Machine Science

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Although many motion planning strategies for missions involving space robots capturing floating targets can be found in the literature, relatively little has discussed how to select the berth position where the spacecraft base hovers. In fact, the berth position is a flexible and controllable factor, and selecting a suitable berth position has a great impact on improving the efficiency of motion planning in the capture mission. Therefore, to make full use of the manoeuvrability of the space robot, this paper proposes a new viewpoint that utilizes the base berth position as an optimizable parameter to formulate a more comprehensive and effective motion planning strategy. Considering the dynamic coupling, the dynamic singularities, and the physical limitations of space robots, a unified motion planning framework based on the forward kinematics and parameter optimization technique is developed to convert the planning problem into the parameter optimization problem. For getting rid of the strict grasping position constraints in the capture mission, a new conception of grasping area is proposed to greatly simplify the difficulty of the motion planning. Furthermore, by utilizing the penalty function method, a new concise objective function is constructed. Here, the intelligent algorithm, Particle Swarm Optimization (PSO), is worked as solver to determine the free parameters. Two capturing cases, i.e., capturing a two-dimensional (2D) planar target and capturing a three-dimensional (3D) spatial target, are studied under this framework. The corresponding simulation results demonstrate that the proposed method is more efficient and effective for planning the capture missions.

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

Cited by 12 publications

References 48 publications

Multi-segment trajectory tracking of the redundant space robot for smooth motion planning based on interpolation of linear polynomials with parabolic blend

Multi-segment trajectory tracking of the redundant space robot for smooth motion planning based on interpolation of linear polynomials with parabolic blend

Attitude Decoupling Control of Semifloating Space Robots Using Time-Delay Estimation and Supertwisting Control

Kinematic-Dynamic Analysis of the Cam-Worm Mechanism for Humanoid Robots Shrug

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