Zero reaction maneuver: flight validation with ETS-VII space robot and extension to kinematically redundant arm
21 May 2001-Vol. 1, pp 441-446
TL;DR: The existence of the ZRM is very limited for a 6 DOF manipulator arm mounted on a free-flying base, but it is discussed how more operational freedom is obtained with a kinematically redundant arm.
Abstract: Presents the experimental results and post-flight analysis of reaction null-space based reactionless manipulation, or zero reaction maneuver (ZRM). The concept has been developed with an insight into the motion dynamics of free-flying multibody systems and its practical availability is clearly demonstrated with ETS-VII, a Japanese space robot. The ZRM is proven particularly useful for removing the velocity limit of manipulation due to the reaction constraint and the time loss due to waiting for the attitude recovery. The existence of the ZRM is very limited for a 6 DOF manipulator arm mounted on a free-flying base, but it is discussed how more operational freedom is obtained with a kinematically redundant arm.
Citations
More filters
TL;DR: A literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on-orbit servicing missions is provided in this article.
Abstract: Space robotics is considered one of the most promising approaches for on-orbit servicing (OOS) missions such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbital debris removal. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed. A number of manned on-orbit servicing missions were successfully accomplished but unmanned, fully autonomous, servicing missions have not been done yet. Furthermore, all previous unmanned technology demonstration missions were designed to service cooperative targets only. Robotic servicing of a non-cooperative satellite is still an open research area facing many technical challenges. One of the greatest challenges is to ensure the servicing spacecraft safely and reliably docks with the target spacecraft or capture the target to stabilize it for subsequent servicing. This is especially important if the target has an unknown motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To motivate and facilitate such research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on-orbit servicing missions.
825 citations
Cites background from "Zero reaction maneuver: flight vali..."
...proposed the Zero Reaction Maneuver (ZRM) in [162]....
[...]
TL;DR: A combined prediction and motion-planning scheme for robotic capturing of a drifting and tumbling object with unknown dynamics using visual feedback, using a Kalman filter to estimate the states and a set of dynamics parameters of the object needed for long-term prediction of the motion from noisy measurements of a vision system.
Abstract: Visually guided robotic capturing of a moving object often requires long-term prediction of the object motion not only for a smooth capture but because visual feedback may not be continually available, e.g., due to vision obstruction by the robotic arm, as well. This paper presents a combined prediction and motion-planning scheme for robotic capturing of a drifting and tumbling object with unknown dynamics using visual feedback. A Kalman filter estimates the states and a set of dynamics parameters of the object needed for long-term prediction of the motion from noisy measurements of a vision system. Subsequently, the estimated states, parameters, and predicted motion trajectories are used to plan the trajectory of the robot's end-effector to intercept a grapple fixture on the object with zero relative velocity (to avoid impact) in an optimal way. The optimal trajectory minimizes a cost function, which is a weighted linear sum of travel time, distance, cosine of a line-of-sight angle (object alignment for robotic grasping), and a penalty function acting as a constraint on acceleration magnitude. Experiments are presented to demonstrate the robot-motion planning scheme for autonomous grasping of a tumbling satellite. Two robotics manipulators are employed: One arm drifts and tumbles the mockup of a satellite, and the other arm that is equipped with a robotic hand tries to capture a grapple fixture on the satellite using the visual guidance system.
152 citations
TL;DR: The essential modeling concepts are summarized, and the kinematics and dynamics equations of a space robot are deduced and the main motion planning approaches are discussed.
Abstract: Space robotic systems are expected to play an increasingly important role in future space activities. Nevertheless, dynamics modeling and motion planning of a space robot are much more complex than those of a fixed-base robot, due to the dynamic coupling between the manipulator and its base. On the other hand, in order to assure the success of on-orbital missions, many experiments are required to verify the key algorithms on the ground before the space robot is launched. In this paper, the main research achievements on dynamics modeling, path planning, and ground verification are reviewed, and future studies are recommended. Firstly, we summarize the essential modeling concepts, and deduce the kinematics and dynamics equations of a space robot. Secondly, the main motion planning approaches are discussed. Then, different ground verification systems, including the air-bearing table, neutral buoyancy, airplane flying, free-falling motion, suspension system, and hybrid system, are introduced. Finally, the future research trends are forecasted.
132 citations
TL;DR: The achievements of orbital robotics technology in the last decade are reviewed, highlighting the Engineering Test Satellite (ETS-VII) and Orbital Express flight demonstrations and some of the selected topics of planetary robotics from the field robotics research point of view are described.
Abstract: Outer space is an ultimate field for the application of robotics technology. As outer space is a harsh environment with extreme temperatures, vacuum, radiation, gravity, and great distances, human access is very difficult and hazardous and is therefore limited. To assist human activities in space for constructing and maintaining space modules and structures, robotic manipulators have been playing essential roles in orbital operations. Moreover, expanding the horizons of exploration beyond the areas of human access, robots that land and travel on planetary surfaces have been greatly contributing to our knowledge of the solar system. New challenges are expected in the future. This article consists of three parts. In the first part, the achievements of orbital robotics technology in the last decade are reviewed, highlighting the Engineering Test Satellite (ETS-VII) and Orbital Express flight demonstrations. In the second part, some of the selected topics of planetary robotics from the field robotics research point of view are described. Recent achievements in the author's laboratory are added as an illustrative example. Finally, technological challenges to asteroid robotics are discussed. When designing a robot to explore the surface of an asteroid, microgravity raises an interesting problem of how to stick and move on the surface. Some ideas to address these questions are introduced.
123 citations
TL;DR: In this article, the authors investigated the application of Particle Swarm Optimization (PSO) strategy to trajectory planning of the kinematically redundant space robot in free-floating mode.
Abstract: This paper investigates the application of Particle Swarm Optimization (PSO) strategy to trajectory planning of the kinematically redundant space robot in free-floating mode. Due to the path dependent dynamic singularities, the volume of available workspace of the space robot is limited and enormous joint velocities are required when such singularities are met. In order to overcome this effect, the direct kinematics equations in conjunction with PSO are employed for trajectory planning of free-floating space robot. The joint trajectories are parametrized with the Bezier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) redundant manipulator mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.
105 citations
References
More filters
01 May 1996
TL;DR: In this article, Xu et al. described the dynamics of the virtual manipulator of a Free-Floating Space Robot (FLSRS) and demonstrated its ability to control the trajectory of the FLSRS.
Abstract: Preface. 1. Kinematic Dynamic Properties of an Elbow Manipulator Mounted on a Satellite R.E. Lindberg, R.W. Longman, M.F. Zedd. 2. The Kinetics and Workspace of a Satellite-Mounted Robot R.W. Longman. 3. On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning Z. Vafa, S. Dubowsky. 4. Dynamic Singularities in Free-Floating Space Manipulators E. Papadopoulos, S. Dubowsky. 5. Nonholonomic Motion Planning of Free-Flying Space Robots via a Bi-Directional Approach Y. Nakamura, R. Mukherjee. 6. Attitude Control of Space Platform/Manipulator System Using Internal Motion C. Fernandez, L. Gurvits, Zexiang Li. 7. Control of Space Manipulators with Generalized Jacobian Matrix K. Yoshida, Y. Umetani. 8. Sensory Feedback Control for Space Manipulators Y. Masutani, F. Miyazaki. 9. Adaptive Control of Space Robot System with an Attitude Control Base Yangsheng Xu, Heung-Yeung Shum, Ju-Jang Lee, T. Kanade. 10. Experiments in Autonomous Navigation and Control of a Multi-Manipulator, Free-Flying Space Robot M.A. Ulman, R.H. Cannon, Jr. Index.
225 citations
22 Apr 1996
TL;DR: The ETS-VII robot experiment includes performance evaluation of satellite mounted robot system, coordinated control of satellite attitude and robot arm, and demonstration of in-orbit satellite serving.
Abstract: National Space Development Agency of Japan (NASDA) is to launch an engineering test satellite named ETS-VII in the year 1997 to develop and perform in-orbit test of rendezvous docking and Space robot technologies. ETS-VII's robot experiment includes (a) performance evaluation of satellite mounted robot system, (b) coordinated control of satellite attitude and robot arm, (c) teleoperation of the satellite mounted robot arm, (d) demonstration of in-orbit satellite serving. The ETS-VII satellite carries a robot arm of 2 m long and 6 dof which will be teleoperated from a ground control station. This paper shows mission, design and development status of ETS-VII space robot experiment mission.
125 citations
Additional excerpts
...2 1 0 -1 120011001000900 Lm (N m s) Time(sec) Roll Pitch Yaw 25 20 15 10 5 0 120011001000900 Norm of Velocity Time(sec) (m m /s ec ) -0.3 -0.2 -0.1 0.0 0.1 0.2 120011001000900 Attitude of base Roll Pitch Yaw Time(sec) (d eg )...
[...]
01 Jan 1996
TL;DR: A dynamic analysis for reaction management control using the Reaction Null Space is introduced and applied to yield a reactionless operational path for PTP operation.
Abstract: This paper addresses a new paradigm of moving base robotics, for a class of robots which have manipulator systems on a moving base. For such robots, kinematic and dynamic coupling between the manipulator arm and the base degrades positioning accuracy and operational dexterity. Moving base robots are classified into the following four categories: (a) Free Floating Manipulator System, (b) Flexible Structure mounted Manipulator System, (c) Macro-Mini Manipulator System, and (d) Mobile Vehicle mounted Manipulator System. Among them, this paper focuses the Flexible Structure mounted Manipulator System, because this class of system displays inherent dynamic coupling between manipulator operation and base structure flexibility, hence control methods to avoid base vibration are strongly needed. A dynamic analysis for reaction management control using the Reaction Null Space is introduced and applied to yield a reactionless operational path for PTP operation. Force control of this class of system is also addressed.
75 citations
24 Apr 2000
TL;DR: In this paper, an on-board autonomy "machine vision" is highly required to perform this dynamic task, since a control loop including the ground station tends to be unstable due to the communication time delay between a ground station and a space robot.
Abstract: On-orbit service such as refuelling, repairing and re-orbiting is highly required for space activities. For on-orbit service, it is one of the most important and most difficult technique to capture a "customer satellite" by a robot arm which can move dynamically in a wide range of space. An on-board autonomy "machine vision" is highly required to perform this dynamic task, since a control loop including the ground station tends to be unstable due to the communication time delay between a ground station and a space robot. An experiment was conducted using the Japanese Engineering Test Satellite VII (ETS-VII) to capture a free floating satellite on orbit first time in the world. Successful results of the experiment are presented.
72 citations
01 Oct 1983
TL;DR: Investigation of NASA' plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies over the next decade are included.
Abstract: The field of telepresence is defined and overviews of those capabilities that are now available, and those that will be required to support a NASA telepresence effort are provided. Investigation of NASA' plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies over the next decade are included.
43 citations