scholarly journals Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Yicheng Liu ◽  
Kedi Xie ◽  
Tao Zhang ◽  
Ning Cai
Keyword(s):  
Trajectory Planning ◽  
Path Tracking ◽  
Space Robot ◽  
End Effector ◽  
Planning Algorithm ◽  
Kinematic Models ◽  
Simulation Results ◽  
Singular Configuration ◽  
Theoretical Analyses ◽  
Dual Arm

In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

Study on Trajectory Planning of Dual-arm Space Robot Keeping the Base Stabilized

2014 ◽  
Vol 39 (1) ◽  
pp. 69-80 ◽  
Author(s):  
Wen-Fu XU ◽  
Xue-Qian WANG ◽  
Qiang XUE ◽  
Bin LIANG
Keyword(s):  
Trajectory Planning ◽  
Space Robot ◽  
Dual Arm

scholarly journals Trajectory Planning Based on Screw Theory with Consideration of the Optimal Berth Position for a Space Robot

2019 ◽  
Vol 2019 ◽  
pp. 1-14
Author(s):  
Yong Wang ◽  
Ying Liao ◽  
Kejie Gong
Keyword(s):  
Trajectory Planning ◽  
Screw Theory ◽  
Optimization Method ◽  
Euler Method ◽  
Space Robot ◽  
Optimization Strategy ◽  
Generalized Jacobian ◽  
End Effector ◽  
Planning Strategy ◽  
Exponential Formula

Trajectory planning is a prerequisite for the tracking control of a free-floating space robot. There are usually multiple planning objectives, such as the pose of the end-effector and the base attitude. In efforts to achieve these goals, joint variables are often taken as exclusive operable parameters, while the berth position is neglected. This paper provides a novel trajectory planning strategy that considers the berth position by applying screw theory and an optimization method. First, kinematic equations at the position level are established on the basis of the product of exponential formula and the conservation of the linear momentum of the system. Then, generalized Jacobian matrices of the base and end-effector are derived separately. According to the differential relationship, an ordinary differential equation for the base attitude is established, and it is solved by the modified Euler method. With these sufficient and necessary preconditions, a parametric optimization strategy is proposed for two trajectory planning cases: zero attitude disturbance and attitude adjustment of the base. First, the berth position is transformed into the desired position of the end-effector, and its constraints are described. Joint variables are parameterized using a sinusoidal function combined with a five-order polynomial function. Then, objective functions are constructed. Finally, a genetic algorithm with a modified mutation operator is used to solve this optimization problem. The optimal berth position and optimized trajectory are obtained synchronously. The simulation of a planar dual-link space robot demonstrates that the proposed strategy is feasible, concise, and efficient.

scholarly journals Area-oriented coordinated trajectory planning of dual-arm space robot for capturing a tumbling target

2019 ◽  
Vol 32 (9) ◽  
pp. 2151-2163
Author(s):  
Wenfu XU ◽  
Lei YAN ◽  
Zhonghua HU ◽  
Bin LIANG
Keyword(s):  
Trajectory Planning ◽  
Space Robot ◽  
Tumbling Target ◽  
Dual Arm

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Robotica ◽  
2021 ◽  
pp. 1-21
Author(s):  
Wen Yan ◽  
Yicheng Liu ◽  
Qijie Lan ◽  
Tao Zhang ◽  
Haiyan Tu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Planning ◽  
Sliding Mode ◽  
Fixed Time ◽  
Planning Method ◽  
Space Robot ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Dual Arm

Abstract This paper addresses fixed-time trajectory tracking for a dual-arm free-floating space robot (FFSR) with the large initial errors and bounded uncertainty. A wrist-based trajectory planning method is improved by fixed-time stability to fast eliminate the error caused by singularity. Then, a novel low-chattering and global-nonsingular fixed-time terminal sliding mode control strategy is studied by state approaching angle and switching sliding mode; the practical fixed-reachable Lyapunov stability analysis is presented for a mechanical control system. In the end, the proposed trajectory planning method and controller are combined to improve the tracking accuracy of end-effector to the nanoscale. Simulation results validate the effectiveness of the proposed methodologies.

Study on Trajectory Planning of Dual-arm Space Robot Keeping the Base Stabilized

2013 ◽  
Vol 39 (1) ◽  
pp. 69-80 ◽  
Author(s):  
Wen-Fu XU ◽  
Xue-Qian WANG ◽  
Qiang XUE ◽  
Bin LIANG
Keyword(s):  
Trajectory Planning ◽  
Space Robot ◽  
Dual Arm

scholarly journals Parameter Optimization of dsRNA Splicing Evolutionary Algorithm Based Fixed-Time Obstacle-Avoidance Trajectory Planning for Space Robot

2021 ◽  
Vol 11 (19) ◽  
pp. 8839
Author(s):  
Junyu Yao ◽  
Wen Yan ◽  
Qijie Lan ◽  
Yicheng Liu ◽  
Yun Zhao
Keyword(s):  
Angular Velocity ◽  
Evolutionary Algorithm ◽  
Obstacle Avoidance ◽  
Trajectory Planning ◽  
Fixed Time ◽  
Space Robot ◽  
Planning Strategy ◽  
Large Joint ◽  
Convergence Performance ◽  
Dual Arm

This paper addresses a smoother fixed-time obstacle-avoidance trajectory planning based on double-stranded ribonucleic acid (dsRNA) splicing evolutionary algorithm for a dual-arm free-floating space robot, the smoothness of large joint angular velocity is improved by 15.61% on average compared with the current trajectory planning strategy based on pose feedback, and the convergence performance is improved by 76.44% compared with the existing optimal trajectory planning strategy without pose feedback. Firstly, according to the idea of pose feedback, a novel trajectory planning strategy with low joint angular velocity input is proposed to make the pose errors of the end-effector and base converge asymptotically within fixed time. Secondly, a novel evolutionary algorithm based on the gene splicing idea of dsRNA virus is proposed to optimize the parameter of the fixed-time error response function and obstacle-avoidance algorithm, which can make joint angular velocity trajectory is planned smooth. In the end, the optimized trajectory planning strategy is applied into the dual-arm space robot system so that the robotic arm can smoothly, fast and accurately complete the tracking task. The proposed novel algorithm achieved 7.56–30.40% comprehensive performance improvement over the benchmark methods, experiment and simulation verify the effectiveness of the proposed method.

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