Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space

Wang, Xiaoyi; Shi, Lingling; Katupitiya, Jayantha

doi:10.1016/j.actaastro.2020.02.028

Cited by 21 publications

(2 citation statements)

References 26 publications

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“…Furthermore, the initial space manipulators were manually operated in space, and the level of automation was relatively simple. Consequently, the mathematical models for space manipulators in these cases resembled those used for ground-based manipulators [12]. However, with the emergence of minisatellites, dynamic modeling has gained a greater importance, and satellites with such complex structures are also referred to as mini space robots [13].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Control of Mini Space Robot Based on Linear Separation of Inertial Parameters

Liu,

Teng,

Jin

2023

Aerospace

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Space robots exhibit a strong dynamic coupling between the manipulator and the base spacecraft, with this phenomenon being particularly pronounced in mini space robots. The uncertainty surrounding the inertial parameters of space robots often renders dynamics-based controllers ineffective, and identifying these parameters in an on-orbit environment poses significant challenges. In this paper, we propose an adaptive controller for dynamic approximation that is specifically designed for mini space robots. This controller employs a linear separation of inertial parameters and utilizes recursive least-squares and Lyapunov methods to update the inertial parameter vectors. Simulation results validate the effectiveness of this adaptive controller in enabling mini space robots to accurately track predefined trajectories. Additionally, we compare the effects of the two parameter update methods on the controller stability under varying prior inertial parameter errors. The proposed inertial parameter separation adaptive controller significantly approximates the dynamics of mini space robots and facilitates precise on-orbit control, thereby offering considerable potential for advancing space exploration, satellite missions, and robotic operations.

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Section: Introductionmentioning

confidence: 99%

Adaptive Control of Mini Space Robot Based on Linear Separation of Inertial Parameters

Liu,

Teng,

Jin

2023

Aerospace

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“…With the increase in space exploration missions, space robots will gradually become the main bearers of future space exploration and space missions [ 1 , 2 ]. Traditional space robots are mainly single-armed and have poor stability and limited carrying capacity [ 3 ]. Therefore, space dobby robots are gradually becoming a research hotspot in the space robotics field [ 4 , 5 ].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots

Jiang

Wei

Yu³

et al. 2023

Sensors

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Complex space missions require more space robotic extravehicular operations required to crawl on spacecraft surfaces with discontinuous features at the graspable point, greatly increasing the difficulty of space robot motion manipulation. Therefore, this paper proposes an autonomous planning method for space dobby robots based on dynamic potential fields. This method can realize the autonomous crawling of space dobby robots in discontinuous environments while considering the task objectives and the self-collision problem of robotic arms when crawling. In this method, a hybrid event–time trigger with event triggering as the main trigger is proposed by combining the working characteristics of space dobby robots and improving the gait timing trigger; the dynamic potential field function is designed to adjust the space robot robotic arm grasping point adaptively according to the space robot state. Simulation results verify the effectiveness of the proposed autonomous planning method.

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Fuzzy Sliding Mode Controller Based Trajectory Tracking Control of Free Flying Space Robot Manipulator System

Shibabw

Tamiru

2023

Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space

Cited by 21 publications

References 26 publications

Adaptive Control of Mini Space Robot Based on Linear Separation of Inertial Parameters

Adaptive Control of Mini Space Robot Based on Linear Separation of Inertial Parameters

Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots

Fuzzy Sliding Mode Controller Based Trajectory Tracking Control of Free Flying Space Robot Manipulator System

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