Contact Force Minimization for Space Flexible Manipulators Based on Effective Mass

Chen, Gang; Liú, Dan; Wang, Yifan; Jia, Qingxuan; Liu, Xin

doi:10.2514/1.g003987

Cited by 14 publications

(12 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…After finding the hole, the space manipulator moves in a straight line through the hole. The contact forces mode is obtained accord ing to the Hertz theory, and the simulation details of the environment are shown in the literature [32]. An error of 5% is added to the dynamics parameters to simulate its uncertainties Matlab and its Robotics ToolboxCorke (Release 10) are used to simulate and verify the proposed method.…”

Section: Methodsmentioning

confidence: 99%

A Control Method of Space Manipulator for Peg-in-Hole Assembly Task Considering Equivalent Stiffness Optimization

et al. 2021

Self Cite

View full text Add to dashboard Cite

To meet the control requirements of high precision and high robustness for peg-in-hole assembly tasks, an optimized control method for a peg-in-hole assembly task of a space manipulator is proposed to reduce the system disturbance caused by the change contact status during the assembly process. The first step is to build an equivalent stiffness model, which considers the structure and control characteristics of the space manipulator. Flexibility indices along the assembly direction are then created. On completion of the flexibility indices, the assembly configuration of the manipulator is optimized with the gain of the joint controller. After that, based on the sliding mode impedance control law, the disturbance of contact force is compensated using a zero-sum optimal control compensation strategy. Finally, the correctness and effectiveness of the control method are verified through simulation experiments. The results of the simulation experiments show that the contact force of the space manipulator can be precisely controlled by the method proposed in this paper. Compared with existing methods, the sudden change of contact force and the disturbing force of the base are reduced by 90% and 54%, respectively. A control method of the space manipulator for a peg-in-hole assembly task considering the equivalent stiffness optimization is proposed, which effectively reduces the influence of disturbance caused by contact collision and improves the control robustness of peg-in-hole assembly tasks.

show abstract

Section: Methodsmentioning

confidence: 99%

A Control Method of Space Manipulator for Peg-in-Hole Assembly Task Considering Equivalent Stiffness Optimization

et al. 2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…Thus, it is necessary to damp the vibrations of links of a flexible manipulator so that positional accuracy can be maintained. This becomes significant for space robots used for performing on-orbit assembly missions (148) . Various other open-problems (149) related to the area of flexible multibody systems include the choice of a suitable reference frame (Table 2), definition of exact boundary conditions at the location where the https://www.indjst.org/ two successive flexible links are joined together, inclusion of a sufficient number of vibration modes into the dynamic model, convergence issue during finite element analysis of flexible links, the effect of centrifugal stiffening, and various non-linear terms present in the dynamics equation of the flexible manipulator that involves coupling between rigid and elastic motions.…”

Section: Continued On Next Pagementioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

View full text Add to dashboard Cite

Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.

show abstract

“…A robot with seven or more joints is known as a redundant manipulator for this task [4][5][6][7]. This socalled redundancy gives manipulator dexterity and flexibility in performing tasks [8][9][10]. The three major In kinematic control, researchers have investigated different methods to come around the problem of redundancy resolution for the manipulators with known kinematic model [17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Evolutionary Computation Based Real-time Robot Arm Path-planning Using Beetle Antennae Search

Khan

Cao

et al. 2022

EAI Endorsed Trans AI Robotics

View full text Add to dashboard Cite

This paper presents a model-free real-time kinematic tracking controller for a redundant manipulator. Redundant manipulators are common in industrial applications because of the flexibility and dexterity they get from redundant joints. However, at the same time, the modeling of these systems becomes quite challenging, even for simple tasks like trajectory tracking. Some classical approaches are being used to tackle the issue, including a numerical approximation of the Jacobian and pseudo-inverse of the Jacobian matrix. These approaches have their limitations as they require exact parameters for the modeling of the manipulator; they are not immune to position error accumulation with time and put the manipulator way off the target position. Swarm-based meta-heuristic algorithms have given a new direction to the solution of the redundancy resolution problem. However, they are computationally intensive, formulated in discrete-time, and better suited for offline computation rather than real-time. We proposed a novel continuous-time Zeroing Neural Network with Beetle Antennae Search (ZNNBAS). The ZNNBAS algorithm can solve the quadratic optimization problem for redundancy resolution in real-time. To test its performance, we applied it on 7-DOF redundant manipulator with two trajectories to follow: character ``M" and hypotrochoid. The manipulator was able to trace the reference trajectories with minimal tracking errors.

show abstract

Contact Force Minimization for Space Flexible Manipulators Based on Effective Mass

Cited by 14 publications

References 19 publications

A Control Method of Space Manipulator for Peg-in-Hole Assembly Task Considering Equivalent Stiffness Optimization

A Control Method of Space Manipulator for Peg-in-Hole Assembly Task Considering Equivalent Stiffness Optimization

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Evolutionary Computation Based Real-time Robot Arm Path-planning Using Beetle Antennae Search

Contact Info

Product

Resources

About