Reconfigurable spacecraft attitude takeover control in post-capture of target by space manipulators

Huang, Panfeng; Wang, Ming; Meng, Zhongjie; Zhang, Fan; Liu, Zhengxiong; Chang, Haitao

doi:10.1016/j.jfranklin.2016.03.011

Cited by 84 publications

(59 citation statements)

References 28 publications

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“…This inequality takes a similar form as (21), and it follows from the proof of Proposition 1 that A − B  T P 0 ( 0 ) + 1 2 I 6 is Hurwitz. Thus, the theorem is proven, and it remains to prove (29). Let = 0 0 and W ( ) = P −1 0 ( 0 ) = P −1 0 ( 0 ) > 0.…”

Section: Design Of the Initial Stabilizing Gainmentioning

confidence: 91%

Data‐driven–based attitude control of combined spacecraft with noncooperative target

Jiang

Zhou

et al. 2019

Intl J Robust & Nonlinear

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Summary In this paper, the attitude control of combined spacecraft with noncooperative target is studied. For the linearized system of the attitude control system, which possesses uncertainties on both its control and system matrices caused by the noncooperative target, this paper proposes an approximated iteration method to obtain the optimal controller such that the closed‐loop system possesses a prescribed convergence rate. An explicit stabilizing gain is established to initiate the iteration method. Based on the proposed iteration method and the initial stabilizing gain, a data‐driven algorithm is proposed to obtain the optimal controller for the attitude control system without using the system parameter information. A simulation is given to verify the effectiveness of the proposed method.

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Section: Design Of the Initial Stabilizing Gainmentioning

confidence: 91%

Data‐driven–based attitude control of combined spacecraft with noncooperative target

Jiang

Zhou

et al. 2019

Intl J Robust & Nonlinear

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“…, then solve for using (13)(14)(15)(16) ; the first joint position vectors of arm-a and arm-b are set as and , respectively; and the pre-grasping directions of arm-a and arm-b are set as and , respectively. Via (17), we can calculate the attitude angles of the end-effectors of arm-a and arm-b, namely, and .…”

Section: Ifmentioning

confidence: 99%

“…Mccourt and Silva [12] proposed a constrained predictive control strategy for capturing a spinning simulated satellite. Huang et al [13] proposed a spacecraft attitude takeover control scheme for stabilizing graspable objects in the post-grasping phase. For these capture tasks [5]- [13], the research objects are graspable objects and robotic arms and grippers are common tools.…”

Section: Introductionmentioning

confidence: 99%

“…Huang et al [13] proposed a spacecraft attitude takeover control scheme for stabilizing graspable objects in the post-grasping phase. For these capture tasks [5]- [13], the research objects are graspable objects and robotic arms and grippers are common tools. In addition, universal grippers based on the jamming of granular material [14] or underactuated fingers [15], [16] have been developed for realizing the adaptive capture of irregular objects.…”

Section: Introductionmentioning

confidence: 99%

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Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

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Capture and removal of space debris is challenging in robotic on-orbit servicing (OOS) activities. A large portion of space debris does not possess any graspable features, which makes conventional grippers inapplicable. To handle such non-graspable objects, a space robotic capture system is presented. A dual-arm space robot simulator that has the advantages of miniaturization and scalability is designed for ground tests. Inspired by robotic caging, we propose a novel capture method that uses a series of hollow-shaped end-effector pairs to cage the antipodal pairs of non-graspable objects. To apply the caging-pair method steadily, space robots need exerting a squeezing action on objects, which can be characterized by the motion and force manipulation of two robotic arms in the assigned directions. Based on the velocity and force manipulability transmission ratios, a caging compatibility index is proposed to describe the capturing ability in this manner. Via the optimization of the desired caging compatibility index, an effective algorithm is proposed to plan near-optimal joint configurations for pre-grasping cages. Finally, both simulation studies and experimental tests are conducted to evaluate the performance of the proposed capture method. Index Terms-Non-graspable objects, space robot simulator, caging-pair method, caging compatibility index. R ! ! q q w J v J J Mv k J T Mv E k k k = t k J

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“…Therefore, developing on-orbit service technologies, especially for noncooperative targets, is critical. In order to overcome the problems caused by manipulator, Huang et al [6,7] proposed the tethered space robot (TSR) system for noncooperative target capturing and detumbling [8,9]. TSR is a new type of space robot, which comprises a platform, space tether, and an operational robot, as shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot

Huang

Chen

Zhang

et al. 2017

International Journal of Aerospace Engineering

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In the ultra-close approaching phase of tethered space robot, a highly stable self-attitude control is essential. However, due to the field of view limitation of cameras, typical point features are difficult to extract, where commonly adopted position-based visual servoing cannot be valid anymore. To provide robot’s relative position and attitude with the target, we propose a monocular visual servoing control method using only the edge lines of satellite brackets. Firstly, real time detection of edge lines is achieved based on image gradient and region growing. Then, we build an edge line based model to estimate the relative position and attitude between the robot and the target. Finally, we design a visual servoing controller combined with PD controller. Experimental results demonstrate that our algorithm can extract edge lines stably and adjust the robot’s attitude to satisfy the grasping requirements.

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Reconfigurable spacecraft attitude takeover control in post-capture of target by space manipulators

Cited by 84 publications

References 28 publications

Data‐driven–based attitude control of combined spacecraft with noncooperative target

Data‐driven–based attitude control of combined spacecraft with noncooperative target

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot

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