Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage

We present a comprehensive tutorial review that explores the application of bio-inspired approaches to robot control systems for grappling and manipulating a wide range of space debris targets. Current robot manipulator control systems exploit limited techniques which can be supplemented by additional bio-inspired methods to provide a robust suite of robot manipulation technologies. In doing so, we review bio-inspired control methods because this will be the key to enabling such capabilities. In particular, force feedback control may be supplemented with predictive forward models and software emulation of viscoelastic preflexive joint behaviour. This models human manipulation capabilities as implemented by the cerebellum and muscles/joints respectively. In effect, we are proposing a three-level control strategy based on biomimetic forward models for predictive estimation, traditional feedback control and biomimetic muscle-like preflexes. We place emphasis on bio-inspired forward modelling suggesting that all roads lead to this solution for robust and adaptive manipulator control. This promises robust and adaptive manipulation for complex tasks in salvaging space debris.

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Robotic grasping with obstacle avoidance using octrees

Artificial Intelligence ◽

10.15407/jai2020.03.007 ◽

2020 ◽

Vol 25 (3) ◽

pp. 7-12

Author(s):

Rud V.V. ◽

Keyword(s):

Control Systems ◽

Current Problem ◽

Robot Manipulator ◽

General Purpose ◽

Advantages And Disadvantages ◽

Specific Position ◽

Recognition Of Objects ◽

Manipulator Control ◽

A Current

This paper considers the problems of the integration of independent manipulator control systems. Areas of control of the manipulator are: recognition of objects and obstacles, identification of objects to be grasped, determination of reliable positions by the grasping device, planning of movement of the manipulator to certain positions with avoidance of obstacles, and recognition of slipping or determination of reliable grasping. This issue is a current problem primarily in industry, general-purpose robots, and experimental robots. This paper considers current publications that address these issues. Existing algorithms and approaches have been found in the management of both parts of the robot manipulator and solutions that combine several areas, or the integration of several existing approaches. There is a brief review of current literature and publications on the above algorithms and approaches. The advantages and disadvantages of the considered methods and approaches are determined. There are solutions that cover either some areas or only one of them, which does not meet the requirements of the problem. Using existing approaches, integration points of existing implementations are identified to get the best results. In the process, a system was developed that analyzes the environment, finds obstacles, objects for interaction, poses for grasping, plans the movement of the manipulator to a specific position, and ensures reliable grasping of the object. The next step was to test the system, test the performance, and adjust the parameters for the best results. The resulting system was developed by the research team of RT-Lions, Technik University, Reutlingen. The hardware research robot includes an Intel Realsense camera, a Sawyer Arm manipulator from Rethink Robotics, and an internally grabbing device.

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Force feedback control of robot manipulator by the acceleration tracing orientation method

IEEE Transactions on Industrial Electronics ◽

10.1109/41.45837 ◽

1990 ◽

Vol 37 (1) ◽

pp. 6-12 ◽

Cited By ~ 93

Author(s):

S. Komada ◽

K. Ohnishi

Keyword(s):

Feedback Control ◽

Force Feedback ◽

Robot Manipulator ◽

Orientation Method

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Development a force feedback control of robot manipulator

2016 2nd International Conference on Control, Automation and Robotics (ICCAR) ◽

10.1109/iccar.2016.7486694 ◽

2016 ◽

Author(s):

Khalil Ibrahim ◽

Ahmed S. Ali

Keyword(s):

Feedback Control ◽

Force Feedback ◽

Robot Manipulator

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An Application of the Individual Channel Analysis and Design Approach to Control of a Two-input Two-output Coupled-tanks System

Acta Polytechnica ◽

10.14311/1618 ◽

2012 ◽

Vol 52 (4) ◽

Author(s):

David J. Murray-Smith

Keyword(s):

Feedback Control ◽

Frequency Domain ◽

Control Systems ◽

Experimental Testing ◽

Level Control ◽

Nonlinear Dynamic Model ◽

Analysis And Design ◽

Frequency Domain Methods ◽

Feedback Control Systems ◽

Channel Analysis

Frequency-domain methods have provided an established approach to the analysis and design of single-loop feedback control systems in many application areas for many years. Individual Channel Analysis and Design (ICAD) is a more recent development that allows neo-classical frequency-domain analysis and design methods to be applied to multi-input multi-output control problems. This paper provides a case study illustrating the use of the ICAD methodology for an application involving liquid-level control for a system based on two coupled tanks. The complete nonlinear dynamic model of the plant is presented for a case involving two input flows of liquid and two output variables, which are the depths of liquid in the two tanks. Linear continuous proportional plus integral controllers are designed on the basis of linearised plant models to meet a given set of performance specifications for this two-input two-output multivariable control system and a computer simulation of the nonlinear model and the controllers is then used to demonstrate that the overall closed-loop performance meets the given requirements. The resulting system has been implemented in hardware and the paper includes experimental results which demonstrate good agreement with simulation predictions. The performance is satisfactory in terms of steady-state behaviour, transient responses, interaction between the controlled variables, disturbance rejection and robustness to changes within the plant. Further simulation results, some of which involve investigations that could not be carried out in a readily repeatable fashion by experimental testing, give support to the conclusion that this neo-classical ICAD framework can provide additional insight within the analysis and design processes for multi-input multi-output feedback control systems.

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