Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

Abstract

In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

“…T is the desired velocity of end-effector; V 0d is the desired velocity of base which is set to 0 in this paper; J e , J ed , J b , and J bd are with (13),…”

“…A pose-feedback-based trajectory planning method for a single-balance-arm-based FFSR is studied in ref. [13], and it can eliminate the errors of many singularity-avoidance algorithms. However, the anti-interference method in ref.…”

“…However, the anti-interference method in ref. [13] is based on simple pose feedback, if there are large initial errors in measurement, the convergence time will be infinite.…”

Space robot motion planning in the presence of nonconserved linear and angular momenta

“…Equations ( 32) and ( 33) enable us to calculate the joints velocities of both manipulators for given Cartesian trajectories of both end-effectors. After the joints velocities are determined, the satellite linear and angular velocities are computed using equation (29). Then equation ( 13) is used to calculate the control torques that should be applied in the joints of both manipulators to achieve the predefined Cartesian trajectories of the end-effectors.…”

“…The results showed that the transposed Jacobian algorithm gives good performance with reduced computational burden. A trajectory planning method for a dual-arm space robot where a disturbance is exerted on the base was proposed in [29]. In this work a pose feedback control was proposed to increase the tracking precision of the end-effector in such a case.…”