Arm path planning for a space robot

Yamada, Katsuhiko

doi:10.1109/iros.1993.583913

Cited by 29 publications

(27 citation statements)

References 8 publications

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“…The path planning problem of a free-floating target with a manipulator having angular momentum, was addressed by Yamada in [93,94]. To find a closed-loop path, the authors proposed a variational optimization approach in joint space for trajectory planning.…”

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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“…Some control aspects of a capturing operation are studied in [18], [19], [20], [21]. The path planing problem to a free-floating target for a manipulator with angular momentum is addressed in [22], [23]. The capture of a spinning object using a dual flexible arm manipulator is studied in [24].…”

Section: A Brief Literature Reviewmentioning

confidence: 99%

On the Capture of Tumbling Satellite by a Space Robot

Yoshida

Dimitrov

Nakanishi

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation before and after the contact with the target is discussed from the viewpoint of angular momentum distribution. By using the bias momentum approach during the approaching phase, impedance control during the impact, and distributed momentum control during the post-impact phase, we propose a possible control sequence for the successful completion of a capturing operation.

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“…The satellite will have AeS as a side-effect that depends on the nominal end-effector motion us@). Yamada [5] computed an optimal closed +Although we assume this from pure technical point of view, there could be various possible reasons: (1) One may consider the case of malfunction or break-down of t h e device. (2) One may wish to minimize the use of t h e device, if it consists of thrusters t h a t use limited and expensive fuel.…”

Section: The Conceptmentioning

confidence: 99%

“…Yamada [5] takes manipulator joint coordinates q and satellite orientation EO as generalized coordinates, and computes a closed path of q that generates the desired change of EO after a cycle. This was solved as an optimization in the Euclidean space R6 of the joints.…”

Section: Generalized Coordinatesmentioning

confidence: 99%

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Planning spiral motion of nonholonomic space robots

Suzuki

Nakamura

Proceedings of IEEE International Conference on Robotics and Automation

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A free-flying space robot with a 6 DOF manipulator cannot follow a n arbitrary trajectory in the 9D generalized coordanates(3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though at was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. W e call the approximated trajectory the "spiral motion." A computational scheme for planning the spiral motion is presented, and is followed by computer simulation that illustrates th,e effectiveness of the scheme.

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Arm path planning for a space robot

Cited by 29 publications

References 8 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

On the Capture of Tumbling Satellite by a Space Robot

Planning spiral motion of nonholonomic space robots

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