scholarly journals Impact motion control of a flexible dual-arm space robot for capturing a spinning object

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985753
Author(s):  
Xiali Li ◽  
Licheng Wu
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Initial Conditions ◽  
Autonomous Vehicle ◽  
Stable State ◽  
Momentum Conservation ◽  
Space Robot ◽  
Dynamics Response ◽  
The Impact ◽  
Dual Arm

As an autonomous vehicle that moves on the space orbit, a space robot needs to be carefully treated on the motion planning and control method. In this article, the optimal impact and postimpact motion control of a flexible dual-arm space robot capturing a spinning object are considered. Firstly, the dynamic model of the robot systems is built by using Lagrangian formulation. The flexible links are modeled as Euler–Bernoulli beams of two bending modes. Through simulating the system’s postimpact dynamics response, the initial conditions are obtained from the impact model. Next, the initial velocities of base and joint are adjusted to minimize the velocity of the base after the capture according to generalized momentum conservation. After the capture, a proportional–derivative controller is designed to keep the robot system’s stabilization. The simulation results show that joint angles of base and manipulators reach stable state quickly, and motions of the space robots also induce vibrating motions of the flexible manipulators.

scholarly journals Coordinated motion control of a dual-arm space robot with joint-limit avoidance and uncertain inertial parameters

2017 ◽  
Vol 14 (5) ◽  
pp. 172988141772802 ◽  
Author(s):  
Chunting Jiao ◽  
Bin Liang ◽  
Xueqian Wang ◽  
Jingyan Song ◽  
Bo Zhang
Keyword(s):  
Motion Control ◽  
Null Space ◽  
Momentum Conservation ◽  
Space Robot ◽  
Coordinated Motion ◽  
Control Approach ◽  
Target Capture ◽  
Inertial Parameters ◽  
Dual Arm ◽  
Joint Limit

In this article, a new adaptive coordinated motion control approach is introduced for a dual-arm free-floating space robot. This adaptive algorithm is used for the post-capture of a large noncooperative target with joint-limit avoidance and uncertain dynamic parameters. To overcome the problem of dynamics coupling between the space base, its manipulators, and the target, we develop a dual-arm space robotic system. One arm is used to complete the capture task and the other is used to counteract the disturbance to the space base. In this case, a new coordinated motion control law is derived based on reaction null space control. An improved joint-limit avoidance algorithm is implemented for large noncooperative target capture; otherwise, a significant base disturbance may result if the joint-limit constraints are not explicitly considered. Based on momentum conservation, the linear regression form of the estimation problem is obtained, and we further identify the unknown inertial parameters of the target. Finally, the simulation results demonstrate the effectiveness of the proposed algorithm.

Coordinated motion control of a dual-arm space robot for assembling modular parts

2020 ◽  
Vol 177 ◽  
pp. 627-638
Author(s):  
Shuji Yang ◽  
Hao Wen ◽  
Yunhao Hu ◽  
Dongping Jin
Keyword(s):  
Motion Control ◽  
Space Robot ◽  
Coordinated Motion ◽  
Dual Arm

The coordinated motion planning of a dual-arm space robot for target capturing

Robotica ◽  
2011 ◽  
Vol 30 (5) ◽  
pp. 755-771 ◽  
Author(s):  
Wenfu Xu ◽  
Yu Liu ◽  
Yangsheng Xu
Keyword(s):  
Center Of Mass ◽  
Momentum Conservation ◽  
Conservation Equation ◽  
Space Robot ◽  
Coordinated Motion ◽  
First Case ◽  
Solution Equation ◽  
Target Capturing ◽  
Dual Arm ◽  
Momentum Conservation Equation

SUMMARYIn this paper, autonomous motion control approaches to generate the coordinated motion of a dual-arm space robot for target capturing are presented. Two typical cases are studied: (a) The coordinated dual-arm capturing of a moving target when the base is free-floating; (b) one arm is used for target capturing, and the other for keeping the base fixed inertially. Instead of solving all the variables in a unified differential equation, the solution equation of the first case is simplified into two sub-equations and practical methods are used to solve them. Therefore, the computation loads are largely reduced, and feasible trajectories can be determined. For the second case, we propose to deal with the linear and angular momentums of the system separately. The linear momentum conservation equation is used to design the configuration and the mounted pose of a balance arm to keep the inertial position of the base's center of mass, and the angular momentum conservation equation is used to estimate the desired momentum generated by the reaction wheels for maintaining the inertial attitude of the base. Finally, two typical tasks are simulated. Simulation results verify the corresponding approaches.

scholarly journals Optimization Control of Cooperative Trajectory towards Dual Arms Based on Time-Varying Constrained Output State

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Hui Zhang ◽  
Wenbin Zha ◽  
Xiangrong Xu ◽  
Yongfei Zhu
Keyword(s):  
Genetic Algorithm ◽  
Trajectory Optimization ◽  
Control Method ◽  
Time Varying ◽  
Pd Control ◽  
Output State ◽  
Optimization Control ◽  
The Individual ◽  
The Impact ◽  
Dual Arm

Aiming at the impact and disturbance of dual-arm robots in the process of coordinated transportation, a dual-arm cooperative trajectory optimization control based on time-varying constrained output state is proposed. According to the constraint relationship of the end-effector trajectory of the dual-arm coordinated transportation, the joint space trajectory mathematical model of the dual-arm coordinated transportation was established by using the master-slave construction method. Based on the time impact optimization index of joint trajectory, a multiobjective nonlinear equation is established. Using random probability distribution to extract the interpolation features of nonuniform quintic B-spline trajectory, the feature optimization target is selected, and the Newton numerical algorithm is used for iterative optimization. At the same time, it is combined with an elite retention genetic algorithm to further optimize the target. Based on the disturbance and tracking problem, a PD control method based on time-varying constrained output state is proposed, and the control law is designed. Its convergence is verified by establishing the Lyapunov function equation and asymmetric term. The trajectory optimization results show that the proposed trajectory optimization method can increase the individual diversity and enhance the individual local optimization, thus avoiding the premature impact of the elite retention genetic algorithm. Finally, the proposed control method is simulated on the platform of Gazebo; compared with the traditional PD control method, the results show that the proposed control algorithm has high robustness, and the rationality of the coordinated trajectory control method is verified by the double-arm handling experiment.

scholarly journals Adaptive coordinated motion control with variable forgetting factor for a dual-arm space robot in post-capture of a noncooperative target

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987234 ◽  
Author(s):  
Chunting Jiao ◽  
Jun Yang ◽  
Xueqian Wang ◽  
Bin Liang
Keyword(s):  
Motion Control ◽  
Adaptive Filtering ◽  
Null Space ◽  
Space Robot ◽  
Forgetting Factor ◽  
Coordinated Motion ◽  
Output Measurement ◽  
Filtering Algorithm ◽  
Variable Forgetting Factor ◽  
Dual Arm

To overcome the problem of dynamics coupling between a space robot and a target satellite, this study introduces a new coordinated motion control approach with an adaptive filtering algorithm for a dual-arm free-floating space robot. Based on the reaction null space control scheme, one arm is used to complete the capture task and the other to counteract disturbance to the space base. However, when space robot captures a noncooperative target, the system may experience abrupt changes in dynamic parameters and output measurement noise, which can cause traditional control methods to achieve poor results in practical applications. Thus, an adaptive filtering algorithm with a variable forgetting factor is proposed to improve the tracking capabilities and robustness of the system. The convergence analysis is performed based on a Lyapunov function. The simulation results demonstrate the effectiveness of the proposed algorithm.

Preimpact configuration analysis of a dual-arm space manipulator with a prismatic joint for capturing an object

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 853-860 ◽  
Author(s):  
Pei-Chao Cong ◽  
Xin Zhang
Keyword(s):  
Impact Force ◽  
Momentum Conservation ◽  
Space Manipulator ◽  
Compound A ◽  
Prismatic Joint ◽  
Object Based ◽  
The Stability ◽  
Joint Velocity ◽  
The Impact ◽  
Dual Arm

SUMMARYThis paper presents the preimpact configuration of a dual-arm space manipulator with a prismatic joint for capturing an object based on the momentum conservation principle. A unique precapture configuration “generalized straight-arm capture” (GSAC) is proposed based on the dual-arm space manipulator with a prismatic joint and the corresponding angular relation is obtained. The configuration satisfies GSAC and can reduce the effect of system's angular momentum caused by the impact force during the capture operation and the burden of postimpact control, so it avoids the limitation of joint velocity and actuator torque when controlling the compound (a manipulator with a prismatic joint and an object) and guarantees the stability of the system. Finally, the effectiveness of the method is demonstrated by numerical simulations.

scholarly journals Zero-Disturbance Control of Free-Floating Space Manipulators Using Integral-Type Sliding Mode Control

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Heping Li ◽  
Ren Li
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Sliding Mode ◽  
Nonholonomic Constraints ◽  
Momentum Conservation ◽  
Underactuated System ◽  
Spacecraft Attitude ◽  
Integral Type ◽  
Whole Process ◽  
Space Manipulators

A free-floating space manipulator is an underactuated system, of which the spacecraft is permitted to rotate freely in response to the manipulator motions. The dynamic coupling property between the spacecraft and the manipulator makes motion control of such systems a significant challenge. In the paper, a zero-disturbance control method for free-floating space manipulators operating in task space is presented. An explicit direct relationship between the spacecraft attitude quaternions and the manipulator joint variables is established using nonholonomic constraints of the angular momentum conservation. By this means the kinematic redundancy of the system is used to adjust the spacecraft attitude. An integral-type sliding mode controller with adaptive switching gains is developed for coordinated motion control of the spacecraft and the manipulator. Simulations on three-link planar model show that the spacecraft remains undisturbed during the whole process of manipulations, which confirms the effectiveness of the proposed method.

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