scholarly journals Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots

2019 ◽  
Vol 4 (2) ◽  
pp. 2108-2115 ◽  
Author(s):  
Alessandro Massimo Giordano ◽  
Christian Ott ◽  
Alin Albu-Schaffer
Keyword(s):  
Coordinated Control ◽  
Space Robots ◽  
End Effector

scholarly journals Modeling and Experimental Design for the On-Orbit Inertial Parameter Identification of Free-Flying Space Robots

2005 ◽  
Author(s):  
Roberto Lampariello ◽  
Gerhard Hirzinger
Keyword(s):  
Energy Consumption ◽  
Experimental Design ◽  
Parameter Identification ◽  
Suitable Model ◽  
Space Robots ◽  
Full System ◽  
End Effector ◽  
Dynamic Motion ◽  
Inertial Parameters ◽  
Flying Robot

A method is proposed for the identification of the inertial parameters of a free-flying robot directly in orbit, using accelerometers. This can serve to improve the path planning and tracking capabilities of the robot, as well as its efficiency in energy consumption. The method is applied to the identification of the base body and of the load on the end-effector, giving emphasis to the experimental design. The problem of the identification of the full system is also addressed in its theoretical aspects. The experience from the Getex Dynamic Motion experiments performed on the ETS-VII satellite have allowed to determine a most suitable model for the identification.

Inverse kinematics of free-floating space robots with minimum dynamic disturbance

Robotica ◽  
1996 ◽  
Vol 14 (6) ◽  
pp. 667-675 ◽  
Author(s):  
Fengfeng Xi
Keyword(s):  
Inverse Kinematics ◽  
New Method ◽  
Space Robots ◽  
Simple Fact ◽  
Generalized Jacobian ◽  
Space Manipulator ◽  
End Effector ◽  
Dynamic Disturbance ◽  
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.

scholarly journals Coordinated Control of Space-Robots Using Angular Velocity Norm Estimation.

1998 ◽  
Vol 46 (536) ◽  
pp. 512-518
Author(s):  
Shigemune TANIWAKI ◽  
Saburo MATUNAGA ◽  
Yoshiaki OHKAMI
Keyword(s):  
Angular Velocity ◽  
Coordinated Control ◽  
Space Robots

Impedance Control of Space Robots Using Passive Degrees of Freedom in Controller Domain

2005 ◽  
Vol 127 (4) ◽  
pp. 564-578 ◽  
Author(s):  
Pushpraj Mani Pathak ◽  
Amalendu Mukherjee ◽  
Anirvan Dasgupta
Keyword(s):  
Force Control ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Space Structure ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Stable Method ◽  
Space Robots ◽  
End Effector ◽  
Control Schemes

Impedance control is an efficient and stable method of providing trajectory and force control in robotic systems. The procedure by which the impedance of the manipulator is changed is a very important aspect in the design of impedance based control schemes. In this work, a scheme is presented in which the control of impedance at the interface of the end effector and the space structure is achieved by introduction of a passive degree of freedom (DOF) in the controller of the robotic system. The impedance is shown to depend upon a compensation gain for the dynamics of the passive DOF. To illustrate the methodology, an example of a two DOF planer space robot is considered.

scholarly journals Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit

2019 ◽  
Vol 2019 ◽  
pp. 1-16
Author(s):  
Qingxuan Jia ◽  
Shiwei Wang ◽  
Gang Chen ◽  
Hanxu Sun
Keyword(s):  
Thermal Deformation ◽  
Error Modeling ◽  
Space Robot ◽  
Kinematic Calibration ◽  
Space Robots ◽  
End Effector ◽  
Rotation Error ◽  
Self Calibration ◽  
Frame Transformation ◽  
Space Capsule

Vibration and impact of launching, inner and outer pressure difference, and thermal deformation of the space capsule will change the transformation between the pose measurement system and the space robot base. It will be complicated, even hard, to measure and calculate this transformation accurately. Therefore, an error modeling method considering both the distance error and the rotation error of the end-effector is proposed for self-calibration of the space robot on orbit, in order to avoid the drawback of frame transformation. Moreover, according to linear correlation of the columns of the identification matrix, unrecognizable parameters in the distance and rotation error model are removed to eliminate singularity in robot kinematic calibration. Finally simulation tests on a 7-DOF space robot are conducted to verify the effectiveness of the proposed method.

Coordinated Rate Control of a Hydraulic Excavator Using Traditional Joystick Hardware

2015 ◽  
Author(s):  
Samuel F. Seifert ◽  
Wayne J. Book
Keyword(s):  
Rate Control ◽  
Human Subject ◽  
Performance Metrics ◽  
Coordinated Control ◽  
Self Report ◽  
End Effector ◽  
Performance Improvements ◽  
Hydraulic Excavators ◽  
Human Subject Experiment ◽  
Subject Experiment

This paper presents a novel user interface (UI) for coordinated rate control (CRC) of an excavator end effector using traditional hardware. Coordinated control of an excavator end effector alleviates the cognitive load created by nonlinear arm dynamics on the excavator operator, allowing the operator to perform tasks more quickly and with fewer errors. A human subject experiment demonstrates the feasibility of excavator CRC using the traditional twin joystick setup, and compares operator performance between a CRC UI and traditional excavator UI. Performance of the CRC UI was statically equivalent to the performance of the traditional UI. When asked to self-report UI preference: 26 participants stated they preferred the CRC UI, 6 preferred the traditional UI, and 14 had no preference. Although the current iteration of the CRC UI offered no measurable performance improvements, a remapping of the CRC joystick inputs to the end effector motion could make the CRC UI more intuitive, lead to better performance metrics, and make hydraulic excavators safer, more efficient, and easier to use.

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