Impact Modeling and Estimation for Multi-Arm Space Robot while Capturing Tumbling Orbiting Objects
TL;DR: Three phases of the capturing operation, namely, approach, impact and post impact have been modeled and a framework is developed to estimate the changes in the generalized velocities caused by the impact.
Abstract: This paper presents impact modeling of a multi-arm robotic system mounted on a service satellite while capture of tumbling orbiting objects. A robotic system with multiple arms would be capable of capturing multiple objects simultaneously. Further when satellite is in broken state or does not have provision for grapple and tumbling, the interception is very difficult. In such cases, interception using multi-arm robotic system can be appealing as this will increase the probability of grasp in comparison to single-arm robot. In this paper, three phases of the capturing operation, namely, approach, impact and post impact have been modeled. In the approach phase, the end-effectors' velocities are designed same as that of the grasping point on the target in order to avoid high impact forces. But in practice, there will be a nonzero relative velocity between the end effector and the grapple point, leading to an impact. In the impact phase, a framework is developed to estimate the changes in the generalized velocities caused by the impact. In post impact phase, these velocities are used as an initial condition for the post impact dynamics simulations of the combined robotic system and target object. Efficacy of the framework is shown using a dual-arm robot mounted on a service satellite performing capturing operation for two tumbling objects.
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TL;DR: A detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed that can reduce the target’s rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller.
Abstract: The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target. Therefore, it is necessary to reduce the target’s rotation to a rate at which capture can be accomplished by the space robot. In this paper, a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed. This strategy can reduce the target’s rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller. The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely. The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude. The main contributions of this paper are as follows: (1) The compliant control method is adopted to achieve a precise friction control, which can reduce the target angular velocity steadily; (2) The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task; (3) The detumbling strategy of dual-arm space robot is designed considering base attitude stabilization, realizing coordinated planning of the base attitude and the arms. The strategy is verified by a dual-arm space robot with two 7-DOF (degrees of freedom) arms. Simulation results show that, target with a rotation velocity of 20 (°)/s can be effectively controlled to stop within 30 s, and the final deflection of the base attitude is less than 0.15° without affecting the target capture task, verifying the correctness and effectiveness of the strategy. Except to the tumbling target capture task, the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.
40 citations
TL;DR: A unified framework is provided for modeling impact dynamics, post-capture stabilization and target maneuvering of a multi-arm robotic system mounted on a servicing satellite while capturing orbiting objects.
Abstract: Autonomous on-orbit servicing, such as capture, refuel, repair and refurbishment of on-orbit satellites using a robotic arm mounted on servicing satellite is one of the important components of future’s space missions. Space robots increase reliability, safety, and ease of execution of space operations, but pose a novel challenge due to micro-gravity and space environments. While capturing high speed orbiting objects, robotic arms undergo impact and require appropriate modeling of the system. In this paper, a unified framework is provided for modeling impact dynamics, post-capture stabilization and target maneuvering of a multi-arm robotic system mounted on a servicing satellite while capturing orbiting objects. The dynamic model of multi-arm space robot is obtained using the Decoupled Natural Orthogonal Complement (DeNOC) based formulation and closed-loop constraint equations. All three phases of the capturing operation, namely, approach, impact, and post-impact are modeled using Impulse-momentum approach and conservation of momentum. In the approach phase, robot arms are planned to move from its initial configuration to the desired capture configuration. In the impact phase, a framework is developed to estimate the impulse forces and changes in the generalized velocities caused by the impact. In post-impact phase, these velocities are used as initial conditions for the post-impact dynamics simulations. The uncontrolled dynamics during post-impact will result in an undesirable motion, thus post-impact reactionless control (minimum base disturbance) strategy is used to maneuver the space robot’s arms and target object. As such, the robotic arms can be used to maneuver an astronaut for repair of satellite. Most of the times the parameters of target object are not known. Hence, an adaptive reactionless control strategy has been devised for capturing object with unknown parameters. The effectiveness of the framework is shown using a dual-arm robot mounted on a servicing satellite performing capturing operation for multiple objects. The effects of relative velocity and angle of approach on the impact forces are also investigated.
11 citations
01 Jan 2019
TL;DR: An attempt has been made to develop a framework for closed-loop impact modeling of a multi-arm robotic system mounted on a servicing satellite while capturing a tumbling orbiting object.
Abstract: In this paper, an attempt has been made to develop a framework for closed-loop impact modeling of a multi-arm robotic system mounted on a servicing satellite while capturing a tumbling orbiting object. When the satellite is in broken state or does not have provision for grapple and tumbling, the interception is very difficult. In such cases, interception using multi-arm robotic system can be appealing as this will certainly increase the probability of grasp in comparison to a single-arm robot. When multiple arms of a robot will capture only one target object from different points of contact, then it is termed as closed-loop impact. In this paper, first, the dynamic models of a multi-arm robot and a tumbling orbiting object are obtained. The target dynamics has been modeled considering it to be a rigid body. Then, the three phases of the capturing operation, namely, approach, impact, and postimpact have been modeled. Efficacy of the framework is shown using a dual-arm robot mounted on a servicing satellite performing capturing operation when both arms of robot capture a single target object. The effects of relative velocity and angle of approach on the impact forces would also be investigated.
2 citations
References
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Book•
01 Jan 2006TL;DR: In this paper, the Jacobian is used to describe the relationship between rigid motions and homogeneous transformations, and a linear algebraic approach is proposed for vision-based control of dynamical systems.
Abstract: Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent Joint Control. 7. Dynamics. 8. Multivariable Control. 9. Force Control. 10. Geometric Nonlinear Control. 11. Computer Vision. 12. Vision-Based Control. Appendix A: Trigonometry. Appendix B: Linear Algebra. Appendix C: Dynamical Systems. Appendix D: Lyapunov Stability. Index.
3,100 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
"Impact Modeling and Estimation for ..." refers background in this paper
...Moreover (6) also requires final joint velocities which can be obtained using the GJM....
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...where I = Im −IbmI −1 b Ibm is the Generalized Inertia Matrix (GIM), c = cm − IbmI −1 b cb is the Generalized Coriolis and centrifugal force, τ = τm − IbmI −1 b Fb is the Generalized torque and J T = Jme − IbmI −1 b J T be is the Generalized Jacobian Matrix (GJM) [9, 13] for the free-floating robot....
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...The reduced form can be obtained by omitting base acceleration Ûtb from (1), as: I Üθ + c = τ + JT F e (2) where I = Im −ITbmI −1 b Ibm is the Generalized Inertia Matrix (GIM), c = cm − ITbmI −1 b cb is the Generalized Coriolis and centrifugal force, τ = τm − ITbmI −1 b Fb is the Generalized torque and J T = JTme − ITbmI −1 b J T be is the Generalized Jacobian Matrix (GJM) [9, 13] for the free-floating robot....
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TL;DR: A new sensitivity study on using ADR to stabilize the future LEO debris environment is described, using the NASA long-term orbital debris evolutionary model, LEGEND, to quantify the effects of several key parameters, including target selection criteria/constraints and the starting epoch of ADR implementation.
Abstract: Recent analyses on the instability of the orbital debris population in the low Earth orbit (LEO) region and the collision between Iridium 33 and Cosmos 2251 have reignited interest in using active debris removal (ADR) to remediate the environment. There are, however, monumental technical, resource, operational, legal, and political challenges in making economically viable ADR a reality. Before a consensus on the need for ADR can be reached, a careful analysis of its effectiveness must be conducted. The goal is to demonstrate the need and feasibility of using ADR to better preserve the future environment and to explore different operational options to maximize the benefit-to-cost ratio. This paper describes a new sensitivity study on using ADR to stabilize the future LEO debris environment. The NASA long-term orbital debris evolutionary model, LEGEND, is used to quantify the effects of several key parameters, including target selection criteria/constraints and the starting epoch of ADR implementation. Additional analyses on potential ADR targets among the existing satellites and the benefits of collision avoidance maneuvers are also included.
320 citations
"Impact Modeling and Estimation for ..." refers background in this paper
...1 INTRODUCTION Space robotics has been an active area of research for the last few years [7, 10]....
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01 Oct 1994
TL;DR: New methods to evaluate the effects of impact and contact forces on single and multiple robot manipulators and examples showing "good" and "bad" configurations for contacts and tasks of different types are presented.
Abstract: This paper introduces new methods to evaluate the effects of impact and contact forces on single and multiple robot manipulators. New measures of the vulnerability of any arm to impacts in varying directions are given. Impact ellipsoids corresponding to these measures are defined and analyzed. The effect of different configurations of kinematically redundant arms on (potentially damaging) impact forces at their end effectors during contact with the environment are investigated. New methods for examining the optimal configurations of redundant manipulators under impact task constraints are discussed. Examples showing "good" and "bad" configurations for contacts and tasks of different types are presented. Application of the methods to multiple cooperating arms is considered. Contact due to additional manipulators grasping, or regrasping, a common object held by one or more manipulators is analyzed. Applications to planning and simulation of manipulation of commonly held objects by multiple arms are discussed. >
194 citations
"Impact Modeling and Estimation for ..." refers background in this paper
...The various strategies for minimizing the impact forces were proposed in [5, 6, 14, 16]....
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TL;DR: In this article, the collision of a robot with its environment is studied and a mathematical model is derived to establish the quantitative relationship between this abrupt change and the severity of the collision, which is represented by an external impulsive force or the instantaneous change of the linear velocity of the contact point.
Abstract: In this article the collision of a robot with its environment is studied. In normal applications of a robot arm, a collision takes place because of the velocity of the end effector relative to the object at the time of contract. The collision has effects on the velocities and internal forces of the robotic system. Firstly, the generalized velocities representing joint rates have abrupt changes at the moment of collison with the environment. The mathematical model is derived to establish the quantitative relationship between this abrupt change and the severity of the collision. The latter is represented by either an external impulsive force or the instantaneous change of the linear velocity of the contact point. Secondly, internal to the system, large impulsive forces and torques of constraint may develop at each joint because of the collision. These impulses cause possible damages to the system. The mathematical model is also derived to establish a quantitative relation between the impulsive forces and torquest of constraint and the collision. These two models are applied to a Stanford Arm designed to pick up an object by its end effector, and the consequences of the collision are analyzed.
189 citations