Adaptive Reaction Control for Space Robotic Applications with Dynamic Model Uncertainty

Abiko, Satoko; Yoshida, Kazuya

doi:10.1163/016918610x501264

Cited by 42 publications

(30 citation statements)

References 20 publications

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“…Previous work on the related problems includes that of literature. [6][7][8][9][10][11][12] In the studies by Atkeson et al, 6 Jia et al, 7 and Yoshida and Abiko, 8 methods were proposed to identify the inertial parameters of a target handled by a space manipulator. These authors derived a parameter identification procedure from the momentum conversation equations, which is known as distributed momentum control (DMC) and is unique to space manipulator systems.…”

Section: Introductionmentioning

confidence: 99%

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

Jiao

Liang

Wang

et al. 2017

International Journal of Advanced Robotic Systems

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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.

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Section: Introductionmentioning

confidence: 99%

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

Jiao

Liang

Wang

et al. 2017

International Journal of Advanced Robotic Systems

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“…Compared with the traditional heavy rigid mechanical arms system, the flexible mechanical arms system has evident advantages because of its wider application, faster response speed, higher payload-to-robot-weight ratio and efficiency, and safer operation due to reduced inertia. 1,2 Therefore, the flexible mechanical arms system is compatibly and widely used in the fields of aerospace, [3][4][5][6] manufactory, 7 national defense, 8 and so on. However, the greatest disadvantage of the flexible mechanical arms systems is the vibration problem due to their long, slender, and light arms.…”

Section: Introductionmentioning

confidence: 99%

Vibration attenuation in two-link flexible mechanical arms with periodic composite materials

Zhang

Kang

Jiang

et al. 2015

Advances in Mechanical Engineering

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We introduce the periodic composite materials, so-called phononic crystals, to the flexible mechanical arms systems. Due to the transfer matrix method and the Bloch theorem, the theoretical solution of band structure of the two-link model is deduced and then verified by the frequency response by the finite element method. The influence of the included angle of arms to vibration characteristics is analyzed. The frequency response of the two-link flexible arms with/without phononic crystals is investigated. The results illustrate that, by using the periodic composite materials, some frequency ranges with strong attenuation can be obtained. This study provides a new way to eliminate vibrations in flexible mechanical arms.

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“…Representative works in the field of freefloating space robots are Masutani et al (1989); Papadopoulos and Dubowsky (1991); Torres and Dubowsky (1992). Inertial damping has been exploited to deal with vibration suppression of flexible-base robots (Lee and Book, 1990;Hanson and Tolson, 1995;Torres et al, 1996) and with so-called macro-micro manipulator systems (Book and Lee, 1989;Yoshikawa et al, 1993;Sharf, 1996;Parsa et al, 2005). In the field of biped humanoid robots, dynamic postural control in unknown environments has been discussed, see e.g.…”

Section: Introductionmentioning

confidence: 99%

“…The potential of the method has also been explored by others, e.g. for modeling and control of the biped gait for the design of interactive orthesis in rehabilitation tasks (Finat and Gonzalez-Sprinberg, 2002), reactionless satellite capture (Dimitrov and Yoshida, 2004;Xu et al, 2007;Piersigilli et al, 2010;Cong and Sun, 2010;Nguyen-Huynh and Sharf, 2011), design of reactionless manipulators (Fattah and Agrawal, 2005), design and control of a dual-stage feed drive (Elfizy et al, 2005), wire-suspended manipulator control (Osumi and Saitoh, 2006;Lampariello et al, 2006), end-point control (Cheng, 2005) and compliance control of flexible-base robots (Ott et al, 2006), optimal motion planning and control (Shui et al, 2009), adaptive reaction control (Abiko and Yoshida, 2010), and reaction torque control of redundant space robots (Cocuzza et al, 2010), impacts with a humanoid robot (Konno et al, 2011), optimal motion planning for space robots with base disturbance (Kaigom et al, 2011), shaking force minimization of highspeed robots (Briot et al, 2012), and so on.…”

Section: Introductionmentioning

confidence: 99%

Reaction Null Space of a multibody system with applications in robotics

Nenchev

2013

Mech. Sci.

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Abstract. This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

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Adaptive Reaction Control for Space Robotic Applications with Dynamic Model Uncertainty

Cited by 42 publications

References 20 publications

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

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

Vibration attenuation in two-link flexible mechanical arms with periodic composite materials

Reaction Null Space of a multibody system with applications in robotics

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