Image space based path planning for reactionless manipulation of redundant space robot
01 Oct 2016-pp 4362-4368
TL;DR: The proposed algorithm is able to incorporate the necessary coupling between the motions of the the dual arms and the base of the robot to ensure zero base reactions and gives the flexibility to apply multiple constraints in both the image space and the configuration space.
Abstract: This work addresses path planning for reactionless visual servoing of a redundant dual-arm space robot through exploration in the image space. The planner explores the image moment based feature space, impends acceleration to the image features and extends the feature tree. A reactionless visual servoing control law is integrated to extend the tree in the configuration space simultaneously. The proposed algorithm is able to incorporate the necessary coupling between the motions of the the dual arms and the base of the robot to ensure zero base reactions. Additionally, it also gives the flexibility to apply multiple constraints in both the image space and the configuration space. The effectiveness of the proposed framework is exhibited by implementing the algorithm on a numerical model of a 14-DoF dual arm space robot.
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TL;DR: A method is proposed to solve the image-based control of a quadrotor Unmanned Aerial Vehicle by directly planning and tracking in image space by adopting the virtual camera approach and choosing image moments, which are defined in the virtual image plane, as image features.
Abstract: A method is proposed to solve the image-based control of a quadrotor Unmanned Aerial Vehicle (UAV) by directly planning and tracking in image space. First, by adopting the virtual camera approach and choosing image moments, which are defined in the virtual image plane, as image features, we design the trajectories of the image features in image space to perform the image-based visual control task of the quadrotor. Then, a feature's trajectory tracking controller is proposed to track the designed trajectories. The stability of the proposed tracking controller is analyzed and proved by means of Lyapunov analysis. In addition, improved visibility during the image-based visual servoing process is achieved with this method. Simulation results are provided to show the feature's trajectory tracking performance. Finally, real-world experiments are conducted to validate this method.
51 citations
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
Cites background from "Image space based path planning for..."
...[25] addressed path planning for reactionless visual servoing through simultaneously planning in image and joint spaces....
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TL;DR: An approach to extend sampling-based path planning algorithms to include visual restrictions, which dynamically builds a 3D model of camera field visibility as seen from the moving robot, and both results in simulation and experiments using a real robot manipulator are presented.
Abstract: An approach to extend sampling-based path planning algorithms to include visual restrictions is presented. This approach imposes of visual constraints during the sampling and optimization processes. Four visual constraints are imposed during sampling: 1) keep the landmark within the sensor field of view, 2) avoid landmark occlusions, 3) maintaining landmark features near the image center, and 4) limit changes in landmark view orientation. These last two are imposed during path optimization. The robot task is to maintain these constraints, in an environment with obstacles, while the robot changes configurations. The sampling-based motion planning algorithm imposes and maintains both physical and visual restrictions. The process uses a collision checker to detect self-and obstacle-collisions, or landmark occlusions. To infer the landmark visibility, the algorithm dynamically builds a 3D model of camera field visibility as seen from the moving robot. To maintaining the landmark features close to the image center, a distance parameter from the field of view boundary to the landmark is used and optimized. The camera roll angle was included as another element to be optimized, limiting changes in orientation. The algorithm has been implemented, and both results in simulation and experiments using a real robot manipulator are presented.
2 citations
Cites background from "Image space based path planning for..."
...Approaches like those presented in [11] and [1] are limited to generate feasible robot trajectories without attempting to find optimal trajectories....
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...In [1] the authors present an algorithm to build an exploration tree searching in both image space and configuration spaces....
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...To overcome this, some approaches have focused on planning in both image space and robot configuration space [11, 1] simultaneously....
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TL;DR: In this article , a trajectory planning method for space manipulators is proposed, which can generate trajectory in Cartesian space with continuous joint jerk, and a bridging matrix is implemented to ensure desired pose varies continuously and smoothly.
TL;DR: In this article , a new approach based on pseudo-velocities method (PVM) is used for construction of nodes of the trajectory tree, which is validated in numerical simulations performed for a planar case (3 DoF manipulator).
Abstract: Abstract On-orbit servicing and active debris removal missions will rely on the use of unmanned satellite equipped with a manipulator. Capture of the target object will be the most challenging phase of these missions. During the capture manoeuvre, the manipulator must avoid collisions with elements of the target object (e.g., solar panels). The dynamic equations of the satellite-manipulator system must be used during the trajectory planning because the motion of the manipulator influences the position and orientation of the satellite. In this paper, we propose application of the bidirectional rapidly exploring random trees (BiRRT) algorithm for planning a collision-free trajectory of a manipulator mounted on a free-floating satellite. A new approach based on pseudo-velocities method (PVM) is used for construction of nodes of the trajectory tree. Initial nodes of the second tree are selected from the set of potential final configurations of the system. The proposed method is validated in numerical simulations performed for a planar case (3-DoF manipulator). The obtained results are compared with the results obtained with two other trajectory planning methods based on the RRT algorithm. It is shown that in a simple test scenario, the proposed BiRRT PVM algorithm results in a lower manipulator tip position error. In a more difficult test scenario, only the proposed method was able to find a solution. Practical applicability of the BiRRT PVM method is demonstrated in experiments performed on a planar air-bearing microgravity simulator where the trajectory is realised by a manipulator mounted on a mock-up of the free-floating servicing satellite.
References
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TL;DR: In this paper, the authors presented the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design), where the task is to determine control inputs to drive a robot from an unknown position to an unknown target.
Abstract: This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from an ...
2,993 citations
10 May 1999
TL;DR: A state-space perspective on the kinodynamic planning problem is presented, and a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems is introduced.
Abstract: The paper presents a state-space perspective on the kinodynamic planning problem, and introduces a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems. By using a state space formulation, the kinodynamic planning problem is treated as a 2n-dimensional nonholonomic planning problem, derived from an n-dimensional configuration space. The state space serves the same role as the configuration space for basic path planning. The bases for the approach is the construction of a tree that attempts to rapidly and uniformly explore the state space, offering benefits that are similar to those obtained by successful randomized planning methods, but applies to a much broader class of problems. Some preliminary results are discussed for an implementation that determines the kinodynamic trajectories for hovercrafts and satellites in cluttered environments resulting in state spaces of up to twelve dimensions.
1,414 citations
01 Jun 1997
TL;DR: A new task-priority redundancy resolution technique is developed that overcomes the effects of algorithmic singularities and is applied to a seven-degree-of-freedom manipulator in numerical case studies to demonstrate its effectiveness.
Abstract: Practical application of the task-priority redundancy resolution technique must deal with the occurrence of kinematic and algorithmic singularities. The aim of this paper is twofold. First, the application of existing singularity-robust methods to the case of kinematically redundant arms is studied. Then, a new task-priority redundancy resolution technique is developed that overcomes the effects of algorithmic singularities. Computational aspects of the solutions are also considered in view of real-time implementation of a kinematic control algorithm. The method is applied to a seven-degree-of-freedom manipulator in numerical case studies to demonstrate its effectiveness.
647 citations
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
TL;DR: Improvements in image-based visual servo using image moments are presented, and the analytical form of the interaction matrix related to the moments computed from a set of coplanar points is derived.
Abstract: Moments are generic (and usually intuitive) descriptors that can be computed from several kinds of objects, defined either from closed contours or from a set of points. In this paper, we present improvements in image-based visual servo using image moments. First, the analytical form of the interaction matrix related to the moments computed from a set of coplanar points is derived, and we show that it is different from the form obtained previously, using coplanar closed contours. Six visual features are selected to design a decoupled control scheme when the object is parallel to the image plane. This nice property is then generalized to the case where the desired object position is not parallel to the image plane. Finally, experimental results are presented to illustrate the validity of our approach and its robustness, with respect to modeling errors.
317 citations