Adaptive Pose Control for Spacecraft Proximity Operations With Prescribed Performance Under Spatial Motion Constraints

2020 ◽  
pp. 1-15
Author(s):  
Xiaodong Shao ◽  
Qinglei Hu ◽  
Yang Shi
Keyword(s):  
Spatial Motion ◽  
Proximity Operations ◽  
Prescribed Performance ◽  
Motion Constraints ◽  
Pose Control

scholarly journals Spatial Motion Constraints Using Virtual Fixtures Generated by Anatomy

2007 ◽  
Vol 23 (1) ◽  
pp. 4-19 ◽  
Author(s):  
Ming Li ◽  
Masaru Ishii ◽  
Russell H. Taylor
Keyword(s):  
Spatial Motion ◽  
Motion Constraints ◽  
Virtual Fixtures

Adaptive Pose Tracking Control for Spacecraft Proximity Operations Under Motion Constraints

2019 ◽  
Vol 42 (10) ◽  
pp. 2258-2271 ◽  
Author(s):  
Hongyang Dong ◽  
Qinglei Hu ◽  
Yueyang Liu ◽  
Maruthi R. Akella
Keyword(s):  
Tracking Control ◽  
Proximity Operations ◽  
Motion Constraints ◽  
Pose Tracking

Spatial Motion Constraints Using Flexible Virtual Fixtures

2013 ◽  
Vol 427-429 ◽  
pp. 24-28
Author(s):  
Xiao Min Lu ◽  
Ping Zhang ◽  
Guang Long Du
Keyword(s):  
Collision Detection ◽  
Detection Method ◽  
Control Mode ◽  
Spatial Motion ◽  
Motion Constraints ◽  
Reference Path ◽  
Virtual Fixtures ◽  
Manipulation Task

To improve the performance of the multi-obstacle manipulation task of the telerobot in the precise interactive teleoperation environment, this paper proposes a novel spatial-motion-constraints virtual fixtures (VFs) method with two 3D flexible VFs, the warning pipe and the safe pipe, as well as a potential-collision-detection method based on these two flexible VFs. The safe pipe constructs the safe workspace dynamically for the robot while the warning one can detect the deviation from the EE to the reference path by adjusting the radius. Experiments show that the control mode employing our method can assist the operator more precisely in teleoperative tasks along with the reduction in the operating tension.

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