A modified forward and backward reaching inverse kinematics based incremental control for space manipulators

In this paper a new method is presented for solving the inverse kinematics of free-floating space manipulators. The idea behind the method is to move the space manipulator along a path with minimum dynamic disturbance. The method is proposed to use the manipulator Jacobian instead of the generalized Jacobian of the spacecraft-manipulator system. This is based on the simple fact that, if the space manipulator moves along the so-called Zero Disturbance Path (ZDP), the spacecraft is immovable. As a result, the space manipulator can in this case be treated as a terrestrial fixed-based manipulator. Hence, the motion mapping between the joints and the end-effector can be described directly by the manipulator Jacobian. In the case that the ZDP does not exist, it can be shown that the solutions obtained by the proposed method provide a path with minimum dynamic disturbance.

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On the Inverse Kinematics of Space Manipulators for Avoiding Dynamic Singularities

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2801262 ◽

1997 ◽

Vol 119 (2) ◽

pp. 340-346 ◽

Cited By ~ 2

Author(s):

F. Xi ◽

R. G. Fenton

Keyword(s):

Conventional Method ◽

Inverse Kinematics ◽

Convergence Rates ◽

Generalized Jacobian ◽

Space Manipulators

A spacecraft-manipulator system is considered in this paper. Dynamic singularities are the singularities occurring when inverting the system generalized Jacobian required by the conventional method for solving the inverse kinematics of space manipulators. To avoid dynamic singularities, three methods are developed here based on the manipulator Jacobian, instead of the system generalized Jacobian. These methods are compared with the conventional method on the basis of their convergence rates, accuracies and sensitivities. Results of this comparison are presented in this paper.

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A modified modal method for solving the mission-oriented inverse kinematics of hyper-redundant space manipulators for on-orbit servicing

Acta Astronautica ◽

10.1016/j.actaastro.2017.06.015 ◽

2017 ◽

Vol 139 ◽

pp. 54-66 ◽

Cited By ~ 18

Author(s):

Wenfu Xu ◽

Zonggao Mu ◽

Tianliang Liu ◽

Bin Liang

Keyword(s):

Inverse Kinematics ◽

Space Manipulators ◽

Modal Method

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On the inverse kinematics of space manipulators for avoiding dynamic singularities

Proceedings of the 1994 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.1994.351038 ◽

2002 ◽

Cited By ~ 1

Author(s):

F. Xi ◽

R.G. Fenton

Keyword(s):

Inverse Kinematics ◽

Space Manipulators

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A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem

International Journal of Aerospace Engineering ◽

10.1155/2021/6690696 ◽

2021 ◽

Vol 2021 ◽

pp. 1-13

Author(s):

Yecong Wang ◽

Xilun Ding ◽

Zixin Tang ◽

Chengwei Hu ◽

Qingqing Wei ◽

...

Keyword(s):

Numerical Solution ◽

Inverse Kinematics ◽

Space Station ◽

Algebraic Methods ◽

Singular Problem ◽

Symmetrical Structure ◽

Type Space ◽

Revolute Joints ◽

Space Manipulators ◽

Simulation Results

Space manipulators which have a similar symmetrical structure with seven revolute joints, such as the space station remote manipulator system (SSRMS), can be called SSRMS-type space manipulators. The analytical inverse kinematics of an SSRMS-type manipulator can be solved by locking a single joint; the locked joint (joint 1, 2, 6, or 7) can be determined by configuration analysis. Although widely used in establishing the kinematics of SSRMS-type manipulators, the Denavit-Hartenberg (DH) method has a singular problem when two adjacent joint axes are nearly parallel. To avoid this problem, this paper proposes a novel analytical inverse kinematics method for SSRMS-type manipulators based on the product of exponentials (POE) formula and the Paden-Kahan subproblem. Because of the symmetrical structure, an SSRMS-type manipulator degrades to two kinds of 6-degree-of-freedom (DOF) manipulators when locking a single joint (joint 1, 2, 6, or 7). The analytical inverse kinematics of these two kinds of 6-DOF manipulators is solved by combining the Paden-Kahan subproblems and geometric and algebraic methods, respectively. The proposed approach is not only singularity free compared with the traditional DH-based methods but also more accurate than the POE-based numerical solution. The simulation results verify the efficiency of the proposed approach.

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