Remote Control of Space Robots Change-Adaptive in its External Environment

Abstract

In the paper a method of remote bilateral control of space robots operating in a non-deterministic environment with a large delay in control signals transmission is presented. The method provides adaptation of space robot behavior to possible changes in its external environment. Compared to the known approaches this method reduces influence of external environment variation on the control process.

D-Star Algorithm Modification

“…For effective work of this method when constructing a trajectory in a deterministic medium, the A-star algorithm is used [7][8][9][10][11][12]. This method allows you to simplify the navigation system to one algorithm.…”

A New Method for a Remote Control of a Robotic Manipulator

“…The above statement is based on the following consideration. For each type of operation on interaction of the working tool (fight) with a subject of the environment there is a certain invariant-the passport of its performance [2][3][4][5][6]. It includes the trajectory of changes in time position relative to the grip of the so-called characteristic points belonging to the objects of the environment.…”

“…As for the dynamic analysis [3] of the functioning of a bilaterally controlled model of a space robot from the control arm, it has already been carried out [4] and its results, including the conditions for achieving stability of the control, are given in [8][9][10][15][16][17][18]. This article presents a dynamic analysis of the process of functioning of the local control system of the space robot while tracking the program trajectories formed in the process of training at the ground control center.…”

A New Method to Study the Periodic Solutions of the Ordinary Differential Equations Using Functional Analysis

“…Periodic solutions take an important part in the qualitative theory of differential equations and in applied problems [3]. The analysis problems for periodic solutions of differential equations arise in classical mechanics, celestial mechanics [4][5][6][7][8][9][10][11][12][13][14][15], space robotics [16][17][18][19][20][21][22][23][24], in modeling of economic processes [25][26][27][28][29]. However, there is no general approach to study periodic solutions of differential equations.…”