A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base

Agrawal, Sunil K.; Pathak, Kaustubh; Franch, Jaume; Lampariello, Roberto; Hirzinger, Gerd

doi:10.1109/tac.2009.2026836

Cited by 38 publications

(21 citation statements)

References 9 publications

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“…Their method requires the selection of robot parameters so that the system is made controllable and linearizable by prolongations. Agrawal et al extended this method to a three-link spatial space robot in [102]. Using genetic algorithms, a non-holonomic path planning was introduced by Xu et al [103].…”

Section: A1 Non-holonomic Path Planningmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: A1 Non-holonomic Path Planningmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…The aforementioned equations mean that there exists a quantity y that summarizes the behavior of the whole system via the mappings ϕ and ψ. Clearly, the advantage of the differential flatness approach is that the trajectories of the system, i.e., (x, u) are straightforwardly estimated by the trajectories of y and its derivatives without integrating any differential equation [29], [42].…”

Section: B Brief Theory Of Differential Flatnessmentioning

confidence: 99%

“…This allowed an alternate representation of the system, where trajectory planning and nonlinear controller design is clear-cut. These ideas have been used lately in a variety of nonlinear systems across various engineering disciplines including: control of a high-speed linear axis driven by pneumatic muscle actuators [22], control of cathode pressure and oxygen excess ratio of a proton exchange membrane (PEM) fuel cell system [23], steering control of a two-level quantum system [24], reactive power and dc voltage tracking control of a three-phase voltage source converter [25], control of openchannel flow in an irrigation canal [26], current control for three phase three-wire boost converters [27], design of a guidance algorithm for the hypersonic phase of a lifting-body vehicle [28], and control of a space robot with arbitrarily oriented joint axes and two momentum wheels at the base [29].…”

mentioning

confidence: 99%

Analysis of Differential Flatness-Based Control for a Fuel Cell Hybrid Power Source

Thounthong

Pierfederici

Davat

2010

IEEE Trans. Energy Convers.

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Abstract-This paper presents an innovative control law for distributed dc generation supplied by a fuel cell (FC) (main source) and supercapacitor (auxiliary source). This kind of system is a multiconverter structure and exhibits nonlinear behavior. The operation of a multiconverter structure can lead to interactions between the controls of the converters if they are designed separately. Typically, interactions between converters are studied using impedance criteria to investigate the stability of cascaded systems. In this paper, a nonlinear control algorithm based on the flatness properties of the system is proposed. Flatness provides a convenient framework for meeting a number of performance specifications for the hybrid power source. Using the flatness property, we propose simple solutions to hybrid energy management and stabilization problems. The design controller parameters are autonomous of the operating point; moreover, interactions between converters are taken into account by the controllers, and high dynamics in disturbance rejection is achieved. To validate the proposed method, a hardware system is realized with analog circuits, and digital estimation is accomplished with a dSPACE controller. Experimental results with small-scale devices (a polymer electrolyte membrane FC of 1200 W, 46 A and a supercapacitor module of 100 F, 500 A, and 32 V) in a laboratory corroborate the excellent control scheme during a motor-drive cycle.

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“…In addition, under-actuation can be applied to space robots to reduce cost, weight or implement robust control schemes [4] [5]. Intuitively, the study of design of underactuated robots can also shed light on improving the reliability of fully-actuated systems in the presence of joint failure [6].…”

Section: Introductionmentioning

confidence: 99%

Design of a differentially flat 3R planar under-actuated manipulator with a single input at the second joint

Agrawal

Zhang

2011

2011 IEEE International Conference on Robotics and Automation

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In contrast to a fully actuated system, an underactuated system cannot execute all joint trajectories. However, under-actuation may be unavoidable at times, such as during joint failure. In recent literature, an under-actuated open-chain planar manipulator with revolute joints has been shown to be feedback linearizable with specific choices of mass and inertia distribution. It has been shown that the dynamic model of an n-joint manipulator with center of mass located at joint 2 and with only one actuator is static feedback linearizable if and only if the input is at the first or the last joint [1].In our pursuit for novel designs of under-actuated arms, which are both controllable and feedback linearizable, we investigate the feasibility of designing a 3R planar underactuated manipulator which has a different distribution of compliance [1]. This study shows that this new architecture of 3R planar under-actuated manipulator with one input at the second joint can still be designed to be differentially flat. With this design, a simple stabilizing controller in the flat output space enables the system to perform point-to-point motion and mitigate initial errors.

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A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base

Cited by 38 publications

References 9 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

Analysis of Differential Flatness-Based Control for a Fuel Cell Hybrid Power Source

Design of a differentially flat 3R planar under-actuated manipulator with a single input at the second joint

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