Tutorial Review on Space Manipulators for Space Debris Mitigation
TL;DR: The field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft is explored, concluding that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.
Abstract: Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.
Citations
More filters
TL;DR: Two families of emerging control schemes based upon reinforcement learning and geometric mechanics are introduced as promising research directions in the GNC of space robotic systems.
Abstract: In the first part, this article presents an overview of Guidance, Navigation and Control (GNC) methodologies developed for space manipulators to perform in-orbit robotic missions, including but not limited to, on-orbit servicing, satellite/station assembly, probing extra-terrestrial objects and space debris mitigation. Some space mission concepts are briefly mentioned, for which space robotics is discussed to be among the most practical and universal solutions. Common phases of an in-orbit robotic mission are identified as: close-range rendezvous, attitude synchronization, target identification, manipulator deployment, capture, and if needed, post-capture maneuvers. Prominent GNC methodologies that are either proposed for or applicable to each phase are extensively reviewed. In the current article, the emphasis is placed on the study of GNC methodologies utilized in attitude synchronization, manipulator deployment, and capture phases, specially the ones reported for use in the two free-floating and free-flying operating regimes of space manipulators. Kinematics and dynamics of space manipulator systems are formulated to help unifying the presentation of the main ideas behind different GNC methodologies. Using a unified notation, comparison tables and discussions provided in this paper, researchers can compare various GNC approaches and contribute to the next-generation GNC systems for space robots. In addition, this survey aids technology users to learn about in-orbit robotic missions and choose appropriate GNC technologies for specific applications. In the second part of this paper, two families of emerging control schemes based upon reinforcement learning and geometric mechanics are introduced as promising research directions in the GNC of space robotic systems. The benefits of implementing these techniques to the GNC of in-orbit robotic missions are discussed. An exclusive study of environmental disturbances affecting space manipulators and their threat to long-term autonomy concludes this article.
54 citations
TL;DR: The structures, ground verification, and on-orbit kinematics calibration technologies of space robotic systems for OOS, divided into three categories: large space manipulators, humanoid space robots, and small space manipulator, are reviewed.
Abstract: Recently, with the rapid development of aerospace technology, an increasing number of spacecraft is being launched into space. Additionally, the demands for on-orbit servicing (OOS) missions are rapidly increasing. Space robotics is one of the most promising approaches for various OOS missions; thus, research on space robotics technologies for OOS has attracted increased attention from space agencies and universities worldwide. In this paper, we review the structures, ground verification, and on-orbit kinematics calibration technologies of space robotic systems for OOS. First, we systematically summarize the development of space robotic systems and OOS programs based on space robotics. Then, according to the structures and applications, these systems are divided into three categories: large space manipulators, humanoid space robots, and small space manipulators. According to the capture mechanisms adopted, the end-effectors are systematically analyzed. Furthermore, the ground verification facilities used to simulate a microgravity environment are summarized and compared. Additionally, the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four aspects. Finally, the development trends of the structures, verification, and calibration technologies are discussed to extend this review work.
34 citations
TL;DR: The modeling of the grasp constraint existing between the SMS end-effectors and the target object is a critical issue and a combination of Jacobian Transpose and Proportional-Derivative Control is synthesized to accomplish the desired mission goals.
Abstract: Space Manipulator Systems (SMSs) are complex systems made of a platform equipped with one or more deployable robotic arms and they will be playing a major role in future autonomous on-orbit missions. The latter may as well involve manipulation operations of the target object which needs to be moved from an initial configuration to a final one suitable for the specific task under consideration. In the present study, the mission being analyzed concerns the manipulation of a passive body by means of a flexible SMS after grasping operations have been performed. The dynamics model is derived in a three-dimensional context (non-linear formulation for the rigid-body motions and linear for the elastic dynamics). The SMS involved in the investigation has two actuated seven-degree of freedom arms. Furthermore, the modeling of the grasp constraint existing between the SMS end-effectors and the target object is a critical issue which is addressed in the present paper. A combination of Jacobian Transpose and Proportional-Derivative Control is synthesized to accomplish the desired mission goals. Numerical results proving the effectiveness of the proposed strategy are presented and discussed.
20 citations
TL;DR: In this article , a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot's contact process to the target surface, is proposed.
Abstract: With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. • Inspired by the cat's paw structure and its footfall process, a space crawling robotic bio-paw (SCRBP). • Tactile perception is realized enabled by multi-dimensional sensation provided by triboelectric sensors. • By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. • The mechanism developed in this paper can be an essential complement of the perception system and help space robots know more about surface information.
12 citations
12 citations
References
More filters
TL;DR: This work uses snakes for interactive interpretation, in which user-imposed constraint forces guide the snake near features of interest, and uses scale-space continuation to enlarge the capture region surrounding a feature.
Abstract: A snake is an energy-minimizing spline guided by external constraint forces and influenced by image forces that pull it toward features such as lines and edges. Snakes are active contour models: they lock onto nearby edges, localizing them accurately. Scale-space continuation can be used to enlarge the capture region surrounding a feature. Snakes provide a unified account of a number of visual problems, including detection of edges, lines, and subjective contours; motion tracking; and stereo matching. We have used snakes successfully for interactive interpretation, in which user-imposed constraint forces guide the snake near features of interest.
18,095 citations
"Tutorial Review on Space Manipulato..." refers background in this paper
...Features begin with object image definition—the “snake” (active contour model) is a deformable curve that extracts object shape by shrink wrapping around object contours on an image based on energy minimisation [75]....
[...]
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Abstract: Manipulation fundamentally requires the manipulator to be mechanically coupled to the object being manipulated; the manipulator may not be treated as an isolated system. This three-part paper presents an approach to the control of dynamic interaction between a manipulator and its environment. In Part I this approach is developed by considering the mechanics of interaction between physical systems. Control of position or force alone is inadequate; control of dynamic behavior is also required. It is shown that as manipulation is a fundamentally nonlinear problem, the distinction between impedance and admittance is essential, and given the environment contains inertial objects, the manipulator must be an impedance. A generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from the control of impedance while preserving the superposition properties of the Norton network. It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear.
3,356 citations
TL;DR: A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
Abstract: A new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The 'hybrid' technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller's ability to execute trajectories using feedback from a force sensing wrist and from position sensors found in the manipulator joints. The results show that the method achieves stable, accurate control of force and position trajectories for a variety of test conditions.
2,991 citations
"Tutorial Review on Space Manipulato..." refers background in this paper
...Hybrid position/force control partitions the control task into two orthogonal task subspaces [235]: (i) free-space motion of the manipulator under control of position; (ii)...
[...]
TL;DR: This survey is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures, and provides a set of models and tools for friction compensation which will be of value to both research and application engineers.
Abstract: While considerable progress has been made in friction compensation, this is, apparently, the first survey on the topic. In particular, it is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures. By uniting these results with those of the controls community, a set of models and tools for friction compensation is provided which will be of value to both research and application engineers. The successful design and analysis of friction compensators depends heavily upon the quality of the friction model used, and the suitability of the analysis technique employed. Consequently, this survey first describes models of machine friction, followed by a discussion of relevant analysis techniques and concludes with a survey of friction compensation methods reported in the literature. An overview of techniques used by practising engineers and a bibliography of 280 papers is included.
2,658 citations
"Tutorial Review on Space Manipulato..." refers background in this paper
...Although there exist sophisticated friction models such as [148] which has seven parameters, for simplicity, most friction models consider Coulomb friction and viscous friction only additively:...
[...]
TL;DR: In this paper, a control law for teleoperators is presented which overcomes the instability caused by time delay by using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay.
Abstract: A control law for teleoperators is presented which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law has been implemented on a single-axis force-reflecting hand controller, and preliminary results are shown. To keep the presentation clear, a single-degree-of-freedom (DOF) linear time-invariant (LTI) teleoperator system is discussed. Nevertheless, results can be extended, without loss of generality, to an n-DOF nonlinear teleoperation system. >
2,131 citations
"Tutorial Review on Space Manipulato..." refers background in this paper
...Adding a dissipative term to both master and slave PD controllers introduces passivity to guarantee stability [99]:...
[...]