Adaptive Reactionless Motion Control for Free-Floating Space Manipulators with Uncertain Kinematics and Dynamics

Xu, Shuanfeng; Wang, Hanlei; Zhang, Duzhou; Yang, Baofeng

doi:10.3182/20130902-3-cn-3020.00145

Cited by 13 publications

(14 citation statements)

References 16 publications

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“…The sampling period used in the following simulations is set as 2 ms. The desired end-effector trajectory of the FFSM is given by The actual values of the kinematic parameter and dynamic parameter are calculated using the physical parameters given in Table I We call the controller proposed in our preliminary work [26], which is the case that the effects of the nonzero initial linear and angular momenta are not considered in the controller (18), the "zero-momenta adaptive controller".…”

Section: Simulation Resultsmentioning

confidence: 99%

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Adaptive zero reaction motion control for free-floating space manipulators

Wang

Zhang

et al. 2016

IEEE Trans. Aerosp. Electron. Syst.

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This paper investigates adaptive zero reaction motion control for free-floating space manipulators with uncertain kinematics and dynamics. The challenge in deriving the adaptive reaction null-space (RNS) based control scheme is that it is difficult to obtain a linear expression, which is the basis of the adaptive control. The main contribution of this paper is that we skillfully obtain such a linear expression, based on which, an adaptive version of the RNS-based controller (referred to as the adaptive zero reaction motion controller in the sequel) is developed at the velocity level, taking into account both the kinematic and dynamic uncertainties. It is shown that the proposed controller achieves both the spacecraft attitude regulation and end-effector trajectory tracking. The performance of the proposed adaptive controller is shown by numerical simulations with a planar 3-DOF (degree-of-freedom) space manipulator. Index TermsReaction null-space, adaptive control, uncertain kinematics and dynamics, free-floating space manipulator. is a qualified approach to handle parametric uncertainties [33].Among the control modes of space manipulators, free-floating space manipulators (FFSM) have their potential advantages, e.g., non-renewable fuel on the spacecraft can be saved and the safety of close-range manipulation can DRAFT 2 be ensured [8]. It is known that in a free-floating space manipulator, the motion of the spacecraft will evolve under the dynamic reaction due to that of the manipulator, and the evolution of the whole system is governed by the principle of momentum conservation. For the end-effector tracking problem without consideration of the spacecraft attitude, many adaptive control algorithms have been proposed (e.g., [6], [7]). Specifically, the tracking objective is realized by the prediction error based approach in [7] with the uncertainties of both the kinematics and dynamics being taken into consideration. However, in practice the spacecraft attitude maintenance is a major concern since the communication with the Earth can be carried out only when the spacecraft antenna points to the Earth (guaranteed by the attitude maintenance control) [9]. Hence, joint motion algorithms for space manipulators without reaction to the spacecraft are highly preferred. On the other hand, the manipulator end-effector is usually required to track some trajectory in Cartesian space when executing On-orbit servicing (OOS). Thus, it is meaningful to realize coordinated spacecraft/manipulator motion control.Many researchers have studied coordination control of a manipulator and its free-floating base. Vafa and Dubowsky proposed joint cyclic motion algorithm so that the spacecraft orientation is maintained [10]. Nakamura and Mukherjee presented an algorithm to achieve the regulation of both the spacecraft attitude and the manipulator joint angles simultaneously, where the stability of the system is analyzed by the Lyapunov method [11]. The motion planning for a system of coupled rigid bodies is investigated in [12], which is c...

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Section: Simulation Resultsmentioning

confidence: 99%

“…We also take into consideration the case of the presence of the nonzero initial linear and angular momenta in the system. A preliminary version of the paper appears in [26], which only considers the case of zero initial momenta, and here, we extend this preliminary result to cover the case where there are nonzero initial momenta.…”

Section: Introductionmentioning

confidence: 80%

Adaptive zero reaction motion control for free-floating space manipulators

Wang

Zhang

et al. 2016

IEEE Trans. Aerosp. Electron. Syst.

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“…where, H b ∈ R 3×3 is the inertia matrix of the spacecraft, H bm ∈ R 3×n is the coupling inertia matrix, H m ∈ R n×n is the inertia matrix of the manipulator,ẍ b ∈ R 3×1 is the vector of linear and angular accelerations of the spacecraft,θ ∈ R n×1 is the joint accelerations of the manipulator, c b ∈ R 3×1 , c m ∈ R n×1 are the velocity dependent non-linear terms, f b ∈ R 3 ×1 is the force exerted on the spacecraft, τ m ∈ R n×1 is the torque exerted on the manipulator joints. Matrix expressions for H b , H bm , H m can be found in literature [38]. For the free-floating space robot system, there is no external force and torque applied on the end-effectors and to the spacecraft.…”

Section: B Kinematics Equation and Dynamics Equation Of The Manipulatormentioning

confidence: 99%

Obstacle Avoidance and Path Planning for Multi-Joint Manipulator in a Space Robot

Xie

Zhang

et al. 2020

IEEE Access

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An obstacle avoidance and path planning algorithm for a multi-joint manipulator in a space robot is presented in this paper. In this paper, the end-effector of the manipulator is used to capture some special target in a space environment with obstacles. To ensure the safety of the operation, a collisionfree path from the initial position to the target position is essential. Therefore, an obstacle avoidance and path planning algorithm based on the Rapidly-Exploring Random Tree (RRT) algorithm and the Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm is presented in this paper. First, a path planning algorithm based on the Rapidly-Exploring Random Tree (RRT) algorithm is designed for the multi-joint manipulator. Further, a method to generate a random point by artificial guidance is introduced for a higher searching speed. The RRT algorithm can effectively explore the entire workspace and find a feasible path without collision for the end-effector. To calculate the positions of each joint, the Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm is introduced and improved for the problem of inverse kinematics. The FABRIK algorithm avoids the use of rotational angles or matrices, and instead finds each joint position by locating a point on a line, and thus, it has a low computational cost. Therefore, the improved obstacle avoidance and path planning algorithm can quickly plan a feasible path for the multijoint manipulator in a space environment with obstacles. A numerical simulation is carried out to analyze the proposed obstacle avoidance and path planning method. It is observed that the method finds a feasible path without collision for the multi-joint manipulator with a low computational cost. These results validated the effectiveness of the proposed method for path planning to avoid the obstacles. INDEX TERMS FABRIK, multi-joint manipulator, obstacle avoidance, path planning, rapidly-exploring random tree.

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“…The authors found that the particle swarm optimization technique was effective at solving the problem. Xu et al [15] investigated an adaptive version of reaction null-space-based control for free-floating robots with uncertain kinematics and dynamics. The contribution of their work lies in the derivation of a linear expression for use as the basis of the adaptive control; the authors ultimately found that their proposed controller achieved both the base attitude regulation and the continuous path tracking of the EE.…”

Section: Introductionmentioning

confidence: 99%

Experimental Validation of Pseudospectral-Based Optimal Trajectory Planning for Free-Floating Robots

Crain

Ulrich

2019

Journal of Guidance, Control, and Dynamics

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This paper proposes the use of pseudospectral methods to solve the nonlinear trajectory planning problem for freefloating robots. Specifically, three different optimization tools are analyzed. Using each tool, simulations are performed, and it is shown that each solver is capable of finding a deployment trajectory that minimizes the final attitude of a free-floating robot. Each solution is then validated using Pontryagin's minimum principle and Bellman's principle of optimality, as well as by propagating the control torques using a numerical integrator and the dynamics model. Experimental validation is performed at Carleton University's Spacecraft Robotics and Control Laboratory to further investigate the solutions obtained from each tool. Ultimately, it was determined that all solutions resulted in a reduced attitude disturbance at the end of the robotic deployment maneuver.

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Adaptive Reactionless Motion Control for Free-Floating Space Manipulators with Uncertain Kinematics and Dynamics

Cited by 13 publications

References 16 publications

Adaptive zero reaction motion control for free-floating space manipulators

Adaptive zero reaction motion control for free-floating space manipulators

Obstacle Avoidance and Path Planning for Multi-Joint Manipulator in a Space Robot

Experimental Validation of Pseudospectral-Based Optimal Trajectory Planning for Free-Floating Robots

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