Robotic assembly and maintenance of future space stations based on the ISS mission operations experience

Rembala, Richard; Ower, C

doi:10.1016/j.actaastro.2009.03.064

Cited by 47 publications

(23 citation statements)

References 3 publications

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“…Manipulator systems are an important component of the spacecraft structure. These systems are currently widely applied to the on-orbit servicing missions, such as space object capture and structure assembly [1][2][3]. Manipulator systems in space are generally designed as long span and lightweight to increase workspace and reduce launch mass.…”

Section: Introductionmentioning

confidence: 99%

Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation

Zhang

et al. 2020

International Journal of Aerospace Engineering

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Manipulator systems are widely used in payload capture and movement in the ground/space operation due to their dexterous manipulation capability. In this study, a method for identifying the payload parameters of a flexible space manipulator using the estimated system of complex eigenvalue matrix is proposed. The original nonlinear dynamic model of the manipulator is linearized at a selected working point. Subsequently, the system state-space model and corresponding complex eigenvalue parameters are determined by the observer/Kalman filter identification algorithm using the torque input signal of the motor and the vibration output signals of the link. Therefore, the inertia parameters of the payload, that is, the mass and the moment of inertia, can be derived from the identified complex eigenvalue system and mode shapes by solving a least-squares problem. In numerical simulations, the proposed parameter identification method is implemented and compared with the classical recursive least-squares and affine projection sign algorithms. Numerical results demonstrate that the proposed method can effectively estimate the payload parameters with satisfactory accuracy.

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Section: Introductionmentioning

confidence: 99%

Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation

Zhang

et al. 2020

International Journal of Aerospace Engineering

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“…Space robotics are now increasingly employed in outer space for various tasks, such as the assembly and maintenance of the International Space Station (ISS) [1], and Lunar Base construction [2]. Examples of space robotics include the Japanese Experiment Module Remote Manipulator System (JEMRMS) of the Japan Aerospace Exploration Agency (JAXA) [3] and the Canadarm 2 of MacDonald Dettwiler and Associates Ltd. (MDA) [4], while examples of performing tasks include the Experimental Test Satellite VII (EST-VII) [5] and the Robot Technology Experiment [6]. The free-flying space robot (FFSR1) and the free-floating space robot (FFSR2) are two main types of space robotics.…”

Section: Introductionmentioning

confidence: 99%

Multitask-Based Trajectory Planning for Redundant Space Robotics Using Improved Genetic Algorithm

2019

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This work addresses the multitask-based trajectory-planning problem (MTTP) for space robotics, which is an emerging application of successively executing tasks in assembly of the International Space Station. The MTTP is transformed into a parameter-optimization problem, where piecewise continuous-sine functions are employed to depict the joint trajectories. An improved genetic algorithm (IGA) is developed to optimize the unknown parameters. In the IGA, each chromosome consists of three parts, namely the waypoint sequence, the sequence of the joint configurations, and a special value for the depiction of the joint trajectories. Numerical simulations, including comparisons with two other approaches, are developed to test IGA validity.

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“…Highly accurate force control is strongly required in many robotic applications. [1][2][3][4][5][6] Force overshoots might compromise the task execution, resulting in task failures and the production of waste.…”

Section: Introductionmentioning

confidence: 99%

Exploiting impedance shaping approaches to overcome force overshoots in delicate interaction tasks

Roveda¹,

Pedrocchi²,

Tosatti

2016

International Journal of Advanced Robotic Systems

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The aim of the presented article is to overcome the force overshoot issue in impedance based force tracking applications. Nowadays, lightweight manipulators are involved in high-accurate force control applications (such as polishing tasks), where the force overshoot issue is critical (i.e. damaging the component causing a production waste), exploiting the impedance control. Two main force tracking impedance control approaches are described in literature: (a) set-point deformation and (b) variable stiffness approaches. However, no contributions are directly related to the force overshoot issue. The presented article extends both such methodologies to analytically achieve the force overshoots avoidance in interaction tasks based on the on-line estimation of the interacting environment stiffness (available through an EKF). Both the proposed control algorithms allow to achieve a linear closed-loop dynamics for the coupled robot-environment system. Therefore, control gains can be analytically on-line calculated to achieve an over-damped closed-loop dynamics of the controlled coupled system. Control strategies have been validated in experiments, involving a KUKA LWR 4þ. A probing task has been performed, representative of many industrial tasks (e.g. assembly tasks), in which a main force task direction is defined.

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Robotic assembly and maintenance of future space stations based on the ISS mission operations experience

Cited by 47 publications

References 3 publications

Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation

Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation

Multitask-Based Trajectory Planning for Redundant Space Robotics Using Improved Genetic Algorithm

Exploiting impedance shaping approaches to overcome force overshoots in delicate interaction tasks

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