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Proceedings ArticleDOI

Control Strategies for Reactionless Capture of an Orbiting Object using a Satellite Mounted Robot

TL;DR: A novel approach is proposed which uses holonomic distribution to reach closer to the target and task-level constraints to finally capture the target.
Abstract: This paper presents a method to capture the orbiting objects using a robotic system mounted on a service satellite. The main objective is to manipulate the robot such that no reaction moment gets transferred to the base satellite. This will avoid use of any attitude controller resulting in fuel savings. Note that the constraints leading to zero reaction moment are nonholonomic, and this makes path planning a complex problem. In this work, first a method based on holonomic distribution of the nonholonomic constraints is discussed. As this method exploits constraints in terms of joint velocities, it does not always ensure successful capture. Next, a method based on task-level constraints, written in terms of end-effector's velocities, has been illustrated. It is shown that the path planned using this method has several singular points. In order to overcome disadvantages of the above two methods a novel approach is proposed which uses holonomic distribution to reach closer to the target and task-level constraints to finally capture the target. Efficacy of the method is shown using a 3-link robot mounted on a service satellite.
Citations
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Journal ArticleDOI
TL;DR: In this article, a scheme of pre-impact trajectory planning for minimizing base attitude disturbance caused by impact is proposed for a free-floating space manipulator, aiming at capture task.

47 citations


Cites background from "Control Strategies for Reactionless..."

  • ...(18) and then the correct capture pose can be set as the objective function of PSO....

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Proceedings ArticleDOI
06 Jul 2016
TL;DR: This paper presents a comprehensive dynamic model for a reaction wheel actuated spacecraft and a robust controller that can maintain the attitude of the spacecraft as required while the manipulator follows the desired trajectory.
Abstract: It is essential to have the ability to control the attitude of a spacecraft while an onboard robotic manipulator is operating. The paper presents a comprehensive dynamic model for a reaction wheel actuated spacecraft and a robust controller that can maintain the attitude of the spacecraft as required while the manipulator follows the desired trajectory. Unlike previous work, this paper reformulates the dynamic equation of a Free-Flying Space Robot (FFSR) with actuating Reaction Wheels (RWs) by taking into account the contribution of RWs to the angular momentum of the entire system. Given strong nonlinearities and multiple inputs of the system, diagonalization is first used to transform the strongly coupled problem into multiple single-input problems by introducing virtual torques. When involving system uncertainties, the defined virtual torque is accurately associated with the actual torque using nominal value of the uncertain inertia matrix in order to guarantee stability of original system. Smoothed Sliding Mode (SMC) controllers are designed for each single-input system provided that the bounds of uncertainties can be estimated. A spacecraft mounted with a 3-DOF manipulator is used in simulation to demonstrate the robustness of the control law when applied to space manipulators.

16 citations


Cites background from "Control Strategies for Reactionless..."

  • ...Desired path was elaborately designed to minimize manipulator disturbance on the platform in [3] and [4]....

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Journal ArticleDOI
TL;DR: This paper presents a motion planning method for space robotic systems keeping the bases inertially fixed while performing on-orbit services, using a combination of point-to-point planning and a balance-arm.
Abstract: This paper presents a motion planning method for space robotic systems keeping the bases inertially fixed while performing on-orbit services, using a combination of point-to-point planning and a balance-arm. A sufficient and necessary condition for stabilizing the base is first determined. The passive motion of the balance-arm is determined according to calculations of task-arm motion. The planning of the task-arm includes a nonlinear programming problem in joint space. A cost function is established as a measurement of key performance characteristics, such as positioning accuracy and manipulability. The joint trajectories of the task-arm are then parameterized using polynomials. An interval analysis-based strategy is proposed for the joint velocities of the task-arm according to the mechanical limits of balance-arm. Quantum particle swarm optimization is used to solve the parameters. Simulations demonstrate the effectiveness of the proposed method.

14 citations

Proceedings ArticleDOI
27 Jul 2015
TL;DR: This paper presents a novel approach for algorithmic singularity avoidance for reactionless visual servoing of a satellite mounted space robot, and presents a geometric interpretation of its occurrence, and proposes a method to avoid it.
Abstract: This paper presents a novel approach for algorithmic singularity avoidance for reactionless visual servoing of a satellite mounted space robot. Task priority approach is used to perform visual servoing while reactionless manipulation of the space robot. Algorithmic singularity is prominent in such cases of prioritizing two tasks. The algorithmic singularity is different from the kinematic and dynamic singularities as the former is an artefact of the tasks at hand, and difficult to predict. In this paper, we present a geometric interpretation of its occurrence, and propose a method to avoid it. The method involves path planning in image space, and generates a sequence of images that guides the robot towards goal avoiding algorithmic singularity. The method is illustrated through numerical studies on a 6-DOF planar dual-arm robot mounted on a service satellite.

5 citations


Cites background from "Control Strategies for Reactionless..."

  • ...Several researchers [9], [10], [11], [12], [13] have also focused on reactionless manipulation of robotic arm....

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References
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Book
22 Mar 1994
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

6,592 citations

Journal ArticleDOI
TL;DR: Methods for steering systems with nonholonomic c.onstraints between arbitrary configurations are investigated and suboptimal trajectories are derived for systems that are not in canonical form.
Abstract: Methods for steering systems with nonholonomic c.onstraints between arbitrary configurations are investigated. Suboptimal trajectories are derived for systems that are not in canonical form. Systems in which it takes more than one level of bracketing to achieve controllability are considered. The trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. A class of systems that can be steered using sinusoids (claimed systems) is defined. Conditions under which a class of two-input systems can be converted into this form are given. >

1,787 citations

Journal ArticleDOI
01 Jun 1989
TL;DR: The authors develop a control method for space manipulators based on the resolved motion control concept that is widely applicable in solving not only free-flying manipulation problems but also attitude-control problems.
Abstract: The authors establish a control method for space manipulators taking dynamical interaction between the manipulator arm and the base satellite into account. The kinematics of free-flying multibody systems is investigated by introducing the momentum conservation law into the formulation and a novel Jacobian matrix in generalized form for space robotic arms is derived. The authors develop a control method for space manipulators based on the resolved motion control concept. The proposed method is widely applicable in solving not only free-flying manipulation problems but also attitude-control problems. The validity of the method is demonstrated by computer simulations with a realistic model of a robot satellite. >

568 citations


"Control Strategies for Reactionless..." refers methods in this paper

  • ...Ibete = 0 (5) where I be = I bmJ-g 1 and the GJM is assumed to be invert­ible or pseudo inverse can be used otherwise....

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  • ...A conventional approach to control the end-effector’s position is to use Generalized Jacobian Matrix(GJM) ( [4], [5]) based resolved motion rate control of space manipulators ....

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  • ..., in the space of end-effector, using a Generalised Jacobian Matrix (GJM) [5] as follows....

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  • ...The GJM can be interpreted similar to the robot Jacobian for a .xed-base manipulator system, however, here the GJM contains several terms associated with the system s dynamics....

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  • ...These con­straints are converted into task-level constraints, i.e., in the space of end-e.ector, using a Generalised Jacobian Matrix (GJM) [5] as follows....

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Proceedings ArticleDOI
13 May 1990
TL;DR: A path-planning method of nonholonomic motion is developed using a Lyapunov function that can be controlled in addition to the joint variables of the manipulator by actuating only the Joint variables, if the trajectory is carefully planned.
Abstract: The path planning of nonholonomic motion of space robot systems is discussed. A space vehicle with a 6-DOF (degrees of freedom) manipulator is described as a nine-variable system with six inputs. It is shown that, by carefully utilizing the nonholonomic mechanical structure, the vehicle orientation in addition to the joint variables of the manipulator can be controlled by actuating only the joint variables. The nonholonomic mechanical structure of space robot systems is shown. A rigorous mathematical proof of the nonholonomic nature of the free-flying space robot systems is provided using Frobenius's theorem. A method for nonholonomic motion planning for space robot systems is established by using a Lyapunov function. >

323 citations