Coupling dynamics modelling and optimal coordinated control of tethered space robot

Huang, Panfeng; Hu, Zehong; Meng, Zhongjie

doi:10.1016/j.ast.2014.12.006

Cited by 43 publications

(12 citation statements)

References 24 publications

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“…Moreover, the inverse kinematics were employed to determine the amount of changes in the joints' variables with regard to the position and the orientation of the end effector [10][11][12][13][14]. The approach used to gain the dynamics of the robot is the Lagrange method [15][16][17][18]. As these robots have been introduced as a controllable system, various approaches including classic, intelligent, and combinatory control methods were proposed and examined.…”

Section: Introductionmentioning

confidence: 99%

Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization

Mahmoodabadi

Ziaei

2019

Journal of Robotics

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This paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics. The Denavit-Hartenberg approach and the Jacobi method for each of the arms of the robot are employed in order to gain the kinematic equations of the manipulator. Furthermore, the Lagrange method is utilized to obtain the dynamic equations of motion. Hence, in order to control the dynamics of the robot manipulator, inverse dynamics and a fuzzy PD controller optimized via particle swarm optimization are used in this research study. The obtained results of the optimal fuzzy PD controller based on the inverse dynamics are compared to the outcomes of the PD controller, and it is illustrated that the optimal fuzzy PD controller shows better controlling performance in comparison with other controllers.

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Section: Introductionmentioning

confidence: 99%

Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization

Mahmoodabadi

Ziaei

2019

Journal of Robotics

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“…Tethered space robot (TSR) or tethered space tug (TST), consisting of a space robot, a space tether, and a space platform/tug, is a promising technology for on-orbit servicing due to its flexibility and wide operation range [6,7]. Huang et al [8] established the impact dynamic model for target capturing and presented an adaptive robust controller to achieve target capturing by TSR.…”

Section: Introductionmentioning

confidence: 99%

Retrieval strategy for failed satellite on tether optimal balance swing angle

Han

Hong

2019

Journal of Systems Engineering and Electronics

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A retrieval control strategy for failed satellite, which is connected to a servicing spacecraft by a tether, is studied. The Lagrange analytical mechanics based dynamics modeling for the system composed of a servicing spacecraft, a tether and a failed satellite, is presented under the earth center inertia coordinate system, then model simplification is conducted under the assumption that the failed satellite's mass is far smaller than the servicing spacecraft's, meanwhile the tether's length is far smaller than the size of the servicing spacecraft's orbit. Analysis shows that the retrieval process is intrinsically unstable as the Coriolis force functions is a negative damping. A retrieval strategy based on only the tether's tension is designed, resulting in the fastest retrieval speed. In the proposed strategy, firstly, the tether's swing angle amplitude is adjusted to 45 • by deploying/retrieving the tether; then the tether swings freely with fixed length until it reaches negative maximum angle-45 • ; finally, the tether is retrieved by the pre-assigned exponential law. For simplicity, only the coplanar situation, that the tether swings in the plane of the servicing spacecraft's orbit, is studied. Numerical simulation verifies the effectiveness of the strategy proposed.

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“…Sun et al derived analytical solutions of the librational angles; besides, a method of hierarchical sliding mode tension control and a method of thrust control are presented to solve the control problems of the tethered system under a thrust, respectively [10][11][12]. Huang et al studied the coupling dynamics modelling of a tethered space robot, explored a space tethered towing method which utilizes thrust to fulfill transfer, and bounded tension to stabilize tether heading; besides, Huang et al studied the dynamics analysis and a controller design for maneuvering a tethered space net robot and also discussed the design, measurement, control, and experiment of a dexterous tethered space robot [13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Optimal Control Scheme of the Tethered System for Orbital Transfer under a Constant Thrust

Sun

Zhao

Chen

2018

International Journal of Aerospace Engineering

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The tethered system with a long tether has its unique advantages in space environment exploration. With the development of requirement, the orbital transfer of the tethered system under a constant thrust and its related optimal control become significant and challenging. Three different optimal control schemes of the tethered system are proposed, including the tension control, the thrust vector control, and the mixed control. In the tension control, in order to ensure the smoothness of pendular motion of the tethered system, different cost functions are adopted and compared. In the thrust vector control, the constraint of thrust direction angle is fully considered. In the mixed control, equivalent conditions to other control schemes are investigated. The advantages and disadvantages of three optimal control schemes are compared and analyzed, which provides a reference for research on the optimal control problem of the tethered system under a constant thrust.

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Coupling dynamics modelling and optimal coordinated control of tethered space robot

Cited by 43 publications

References 24 publications

Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization

Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization

Retrieval strategy for failed satellite on tether optimal balance swing angle

Optimal Control Scheme of the Tethered System for Orbital Transfer under a Constant Thrust

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