Coping Strategy for Multi-Joint Multi-Type Asynchronous Failure of a Space Manipulator

Jia, Qingxuan; Wang, Xuan; Chen, Gang; Yuan, Bonan; Fu, Yingzhuo

doi:10.1109/access.2018.2858270

Cited by 6 publications

(2 citation statements)

References 33 publications

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“…Underactuated manipulators [1], [2], UAVs [3], surface vessels [4], spacecraft [5], [6], underwater vehicles [7] and so on have generally become active fields for the past few years, because they are all underactuated mechanical systems (UMSs) that have the advantages of low number of actuators, weight, cost and energy consumption. However, complex internal dynamics, lack of feedback linearization and nonholonomic behavior also accompany UMSs, which increase the difficulty of designing controller for such systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems

et al. 2019

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To address the uncertainty existing in underactuated mechanical systems (UMSs) and their nonholonomic servo constraints, we propose a class of adaptive robust control based on the Moore-Penrose generalized inverse for UMSs in this paper. The uncertainty is considered as (possible fast) time-varying and bounded. However, the bound is unknown. To estimate the bound information, an adaptive law is designed, which combines leakage type and dead-zone type. This adaptive law can simultaneously regulate the control effort and computation speed. The proposed control can guarantee deterministic system performance, which is analyzed by using Lyapunov method. The effectiveness of proposed control is shown by an example of simplified two-wheeled self-balancing robot. INDEX TERMS Underactuated mechanical systems, servo constraints, adaptive robust control, adaptive law, Moore-Penrose generalized inverse.

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Section: Introductionmentioning

confidence: 99%

Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems

et al. 2019

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“…The researches above only gave some individual indexes to depict working performance in a single aspect, but space tasks usually had simultaneous requirements for working performance of space manipulators in multiple aspects. Aiming at specific space tasks, Chen et al [20], [21] and Jia et al [22] established a comprehensive kinematics performance index through integrating multiple individual indexes together to evaluate task realizability and construct a path planning domain for fixed-base space manipulators. For example, for end-effector transferring tasks, they integrated the mini-mum singular value, condition number and manipulability into workspace to comprehensively depict dexterity in workspace of manipulators.…”

Section: Introductionmentioning

confidence: 99%

Representation Space Analytical Method for Path Planning of Free-Floating Space Manipulators

2019

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Path planning is necessary for free-floating space manipulators to perform space tasks. However, the coupled motion between manipulator and base directly acts on path planning procedure, which results in current manipulator motion state is dependent on previous motion state, so we must consider the control of base-coupled motion in path planning. In this paper, we propose a general path planning strategy for free-floating space manipulators based on the representation space (RS) analytical method. RS consists of the representation variables which are connected to task attributes and base-coupled motion simultaneously, and it can be utilized to check task realizability and construct a path planning domain for free-floating space manipulators. To analyze the effects of base-coupled motion on path planning, we classify RS into five types according to different base control modes: fixed vehicle RS (FRS), attitude constrained RS (CRS), maximum reachable RS (MRS), guaranteed RS (GRS), and partly guaranteed RS (PGRS). CRS tells us the variation of base attitude (instead of base centroid position) directly influences task realizability and path planning, so we should particularly consider the control of motion of base attitude in path planning. With appropriately considering the control of base attitude and satisfying the base attitude deflection limitation, only PGRS can be utilized to check task realizability and construct a path planning domain for free-floating space manipulators. Then, we design a path planning strategy in PGRS based on A * algorithm. Finally, we apply the RS analytical method to the 3-DOF free-floating space manipulator to visually show RS, and the effectiveness of the method is verified by a simulation experiment. The RS analytical method is appropriate to path planning for any kinds of manipulators and various tasks. We only need to select the suitable representation variables, which can faithfully reflect task and manipulator attributes.

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Fault Tolerant Control and Reconfiguration of Mobile Manipulator

Rayankula¹,

Pathak

2021

J Intell Robot Syst

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Coping Strategy for Multi-Joint Multi-Type Asynchronous Failure of a Space Manipulator

Cited by 6 publications

References 33 publications

Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems

Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems

Representation Space Analytical Method for Path Planning of Free-Floating Space Manipulators

Fault Tolerant Control and Reconfiguration of Mobile Manipulator

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