A modified modal method for solving the mission-oriented inverse kinematics of hyper-redundant space manipulators for on-orbit servicing

Xu, Wenfu; Zhang, Mu; Liu, Tianliang; Liang, Bin

doi:10.1016/j.actaastro.2017.06.015

Cited by 54 publications

(29 citation statements)

References 19 publications

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“…Therefore, the penetration distance and the penetration speed between the two objects are used as the independent variables that cause the collision force to change. The size of the collision force F between the griper and the quick disconnector can be obtained from equation (19), that is, (19) where K is the local contact stiffness at the contact point, D is the local damping coefficient at the contact point, δ is the contact deformation distance, δ = δ (t) = Ṡ n dt, dδ dt is the normal relative velocity between the contact points, and n is the force exponent. In the Hertz contact problem, n = 3/2.…”

Section: Contact Dynamics Modelling Of An Effector Imitating a Hummentioning

confidence: 99%

“…Li et al [16]- [18] proposed a new configuration with a large-mass-ratio moving mass and reactive jet for the control problem of aircraft. Xu et al [19] developed an improved modal method for on-orbit maintenance tasks to solve the inverse kinematics method of a hyper-redundant space manipulator. Saleh et al [20] proposed a new customer-centric on-orbit service perspective.…”

Section: Introductionmentioning

confidence: 99%

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Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

et al. 2020

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At present, the space station on-orbit service is still rapidly developing, and on-orbit refueling operation has not been fully realized. During the process of an on-orbit robotic refueling mission, the pipe disconnectors are artificially docked, and the problems of low efficiency and a long operation period are common. From the perspective of bionics, this paper studies the kinematics of the upper limbs in the manual docking process of the pipeline quick disconnector and analyses the redundant degrees of freedom in the manual docking process. In this paper, without changing the original structure of the quick disconnector, a five-degrees-of-freedom multifunctional end-effector imitating the human hand with a compact structure and a light weight was created, which can realize the automatic docking of the quick disconnector in the pipeline. The quick disconnector docking in the refueling system is simplified from the original manual, twohanded operation to a single-end-effector operation with a single mechanical arm. Compared with a dual-arm robot, a single-arm robot has the advantages of internal force sealing, a stable structure, a higher docking accuracy and a lower cost. The common rigid body contact collision dynamics problem is thus studied. The contact dynamics model between the ''quick disconnector and the robot end-effector'' is established by the equivalent spring damping model method. The experimental prototype was developed according to the structure of the end-effector to complete the construction of the refueling robot experimental platform. A simulation and experiment were conducted to verify the advantages and effectiveness of the structure. INDEX TERMS On-orbit servicing, robotic refueling mission, end-effector, imitating human hand, collision dynamics analysis.

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Section: Contact Dynamics Modelling Of An Effector Imitating a Hummentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

et al. 2020

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show abstract

“…Palmer [19] presented an approach to control the active action of coiling a continuum arm using tip following navigation. Xu [20] proposed a modified fitting method based on a mode function to solve the IK of hyper-redundant manipulator. Xie [21] presented a novel follow-the-leader method for rigid-backbone serpentine manipulator with high location precision and less computation time.…”

Section: Introductionmentioning

confidence: 99%

“…(0, 0, 0), the first target point is(20,15,15), and the second target point is (50, 40, 0). The simulations are shown in Figures 12-15.…”

mentioning

confidence: 99%

Obstacle avoidance and multitarget tracking of a super redundant modular manipulator based on Bezier curve and particle swarm optimization

Liu

2020

Preprint

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A super redundant serpentine manipulator has slender structure and multiple degrees of freedom. It can travel through narrow spaces and move in complex spaces. This manipulator is composed of many modules that can form different lengths of robot arms for different application sites. The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space. This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator. In this integrated optimization, path planning is established on a Bezier curve, and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator. A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy. The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve. Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints. The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.

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“…It is crucial to obtain highly accurate inverse kinematics solutions in an efficient manner in the design, motion planning, and control of the manipulator. [1][2][3] The main problem in determining the inverse kinematics solution of a robotic manipulator is to compute each joint angle qðq 1 ; q 2 ; Á Á Á; q n Þ by algebraic, geometric, iterative optimization, or machine learning approaches based on the end effector pose T ðp x ; p y ; p z ;o x ;o y ;o z ;a x ;a y ;a z ;n x ;n y ;n z Þ .…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematics solution for robotic manipulator based on extreme learning machine and sequential mutation genetic algorithm

Zhou

Guo

Wang

et al. 2018

International Journal of Advanced Robotic Systems

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This article presents an intelligent algorithm based on extreme learning machine and sequential mutation genetic algorithm to determine the inverse kinematics solutions of a robotic manipulator with six degrees of freedom. This algorithm is developed to minimize the computational time without compromising the accuracy of the end effector. In the proposed algorithm, the preliminary inverse kinematics solution is first computed by extreme learning machine and the solution is then optimized by an improved genetic algorithm based on sequential mutation. Extreme learning machine randomly initializes the weights of the input layer and biases of the hidden layer, which greatly improves the training speed. Unlike classical genetic algorithms, sequential mutation genetic algorithm changes the order of the genetic codes from high to low, which reduces the randomness of mutation operation and improves the local search capability. Consequently, the convergence speed at the end of evolution is improved. The performance of the extreme learning machine and sequential mutation genetic algorithm is also compared with that of a hybrid intelligent algorithm, and the results showed that there is significant reduction in the training time and computational time while the solution accuracy is retained. Based on the experimental results, the proposed extreme learning machine and sequential mutation genetic algorithm can greatly improve the time efficiency while ensuring high accuracy of the end effector.

show abstract

A modified modal method for solving the mission-oriented inverse kinematics of hyper-redundant space manipulators for on-orbit servicing

Cited by 54 publications

References 19 publications

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

Obstacle avoidance and multitarget tracking of a super redundant modular manipulator based on Bezier curve and particle swarm optimization

Inverse kinematics solution for robotic manipulator based on extreme learning machine and sequential mutation genetic algorithm

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