Autonomous planning and control strategy for space manipulators with dynamics uncertainty based on learning from demonstrations

2021 ◽  
Author(s):  
ChongYang Li ◽  
ZhiQi Li ◽  
ZaiNan Jiang ◽  
ShiPeng Cui ◽  
Hong Liu ◽  
...  
Keyword(s):  
Control Strategy ◽  
Planning And Control ◽  
Autonomous Planning ◽  
Space Manipulators ◽  
Learning From Demonstrations ◽  
And Control

HLPR Chair: A Novel Indoor Mobility-Assist and Lift System

2007 ◽  
Author(s):  
Roger Bostelman ◽  
James Albus ◽  
Tommy Chang ◽  
Tsai Hong ◽  
Sunil K. Agrawal ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Control Architecture ◽  
Back Injury ◽  
Patient Mobility ◽  
Wheelchair Users ◽  
Planning And Control ◽  
Autonomous Planning ◽  
Autonomous Mobility ◽  
Mobility Device ◽  
And Control

This paper describes a novel Home Lift, Position, and Rehabilitation (HLPR) Chair, designed at National Institute of Standards and Technology (NIST), to provide independent patient mobility for indoor tasks, such as moving to and placing a person on a toilet or bed, and lift assistance for tasks, such as accessing kitchen or other tall shelves. These functionalities are currently out of reach of most wheelchair users. One of the design motivations of the HLPR Chair is to reduce back injury, typically, an important issue in the care of this group. The HLPR Chair is currently being extended to be an autonomous mobility device to assist cognition by route and trajectory planning. This paper describes the design of HLPR Chair, its control architecture, and algorithms for autonomous planning and control using its unique kinematics.

Autonomous Planning and Control for Intelligent Vehicles in Traffic

2020 ◽  
Vol 21 (6) ◽  
pp. 2339-2349 ◽  
Author(s):  
Changxi You ◽  
Jianbo Lu ◽  
Dimitar Filev ◽  
Panagiotis Tsiotras
Keyword(s):  
Intelligent Vehicles ◽  
Planning And Control ◽  
Autonomous Planning ◽  
And Control

Dynamic Singularities in Free-Floating Space Manipulators

1993 ◽  
Vol 115 (1) ◽  
pp. 44-52 ◽  
Author(s):  
E. Papadopoulos ◽  
S. Dubowsky
Keyword(s):  
Attitude Control ◽  
Dynamic Properties ◽  
Kinematic Structure ◽  
Attitude Control System ◽  
Space Manipulator ◽  
End Effector ◽  
Planning And Control ◽  
Space Manipulators ◽  
Fixed Base ◽  
And Control

Dynamic Singularities are shown for free-floating space manipulator systems where the spacecraft moves in response to manipulator motions without compensation from its attitude control system. At a dynamic singularity the manipulator is unable to move its end-effector in some inertial direction; thus dynamic singularities must be considered in the design, planning, and control of free-floating space manipulator systems. The existence and location of dynamic singularities cannot be predicted solely from the manipulator kinematic structure because they are functions of the dynamic properties of the system, unlike the singularities for fixed-base manipulators. Also analyzed are the implications of dynamic singularities to the nature of the system’s workspace.

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