Impact Effect Analysis of Dual-arm Space Robot Capturing a Non-cooperative Target and Force/Position Robust Stabilization Control for Closed-chain Hybrid System

2015 ◽  
Vol 51 (9) ◽  
pp. 37 ◽  
Author(s):  
Qiuhuang DONG
Keyword(s):  
Hybrid System ◽  
Robust Stabilization ◽  
Space Robot ◽  
Effect Analysis ◽  
Impact Effect ◽  
Stabilization Control ◽  
Closed Chain ◽  
Dual Arm

Coordinated robust control based on extended state observer of dual-arm space robot with closed chain for transferring a target

2017 ◽  
Vol 232 (13) ◽  
pp. 2489-2498
Author(s):  
Jing Cheng ◽  
Li Chen
Keyword(s):  
Robust Control ◽  
State Observer ◽  
Extended State Observer ◽  
Space Robot ◽  
Dynamic Equations ◽  
Extended State ◽  
Constraint Equations ◽  
Closed Chain ◽  
Pseudo Inverse ◽  
Dual Arm

The coordinated control problem of free-floating dual-arm space robot with closed chain is discussed. First, dynamic equations of the open-chain space robot system with virtual cut-off point are obtained by Lagrangian equation; the constraint equations of closed loop are derived by the kinematics analysis. The dynamic equations without redundant degree of freedom of dual-arm space robot with closed chain are established by the constraint equations and the theory of pseudo-inverse. Second, in order to achieve excellent tracking performance, the robust control based on extended state observer is proposed for the closed-chain system with uncertain inertial parameters. The unknown part of the closed-chain system is compensated by an extended state observer. The global uniform ultimate boundedness stability with exponential convergence is proven by the Lyapunov’s theory. For the existence of the controller redundancy, based on the weighted minimum-norm theory and pseudo-inverse theory, the joint inputs are distributed for each joint to guarantee the uniqueness of joints trajectory. At last, the numerical simulation is conducted to verify the effectiveness of the proposed control scheme.

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

Robust Stabilization Control for an Electric Bicycle

2014 ◽  
Vol 188 (4) ◽  
pp. 68-77 ◽  
Author(s):  
Takuro Kawamura ◽  
Toshiyuki Murakami
Keyword(s):  
Robust Stabilization ◽  
Stabilization Control ◽  
Electric Bicycle

scholarly journals Reactionless visual servoing of a dual-arm space robot

2014 ◽  
Author(s):  
A. H. Abdul Hafez ◽  
V. V. Anurag ◽  
S. V. Shah ◽  
K. Madhava Krishna ◽  
C. V. Jawahar
Keyword(s):  
Visual Servoing ◽  
Space Robot ◽  
Dual Arm
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