Dual-arm coordinated capturing of an unknown tumbling target based on efficient parameters estimation

Peng, Jianqing; Xu, Wenfu; Pan, Erzhen; Yan, Lei; Liang, Bin; Wu, Ai‐Guo

doi:10.1016/j.actaastro.2019.03.008

Cited by 23 publications

(5 citation statements)

References 33 publications

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“…Post-capture: After forming a stable coupling system, the chaser restarts to unload the momentum of the system by jetting. The manipulator needs to provide a reliable connection between the chaser and the target, and withstand the disturbances and excitations from the chaser [33], [34].…”

Section: B the Control Problem For Space Manipulator And Some Premisementioning

confidence: 99%

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

et al. 2019

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A space manipulator needs to exhibit high stiffness for tracking, and good compliance for capturing a tumbling satellite. However, the elasticity caused by harmonic drives challenges both the highprecision motion and the flexibility of the manipulator. In this paper, we propose a novel control method based on a robust torque-tracking controller to eliminate the unexpected vibration resulting from elasticity and reject the perturbation caused by nonlinear friction of the motor. In order to achieve the high-precision motion of the manipulator with uncertain dynamics, we combined the method with an improved adaptive method. The position-based impedance control, taking both the translational and rotational impedance into account, is added to achieve the soft-capture of a tumbling satellite. The stability of the proposed method has been strictly proven by the Lyapunov method. The space manipulator is mounted on a controlled chaser, forming a free-flying space robot. A loose coordinated control between the chaser and the manipulator is adopted in the task simulation. The simulations for verifying controller performance and the task simulation reveal that the manipulator has high-precision motion performance in the pre-capture phase, achieves soft-capture in the capturing phase and offers a reliable connection between the chaser and the target in the de-tumbling phase. INDEX TERMS Flexible-joint manipulator, capture of tumbling satellite, robust and adaptive control, free-flying space robot.

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Section: B the Control Problem For Space Manipulator And Some Premisementioning

confidence: 99%

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

et al. 2019

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“…In recent years, due to the rapid development of scientific and technological level, the development, production and use of robots are in full swing all over the world. It not only represents a country's comprehensive national strength [1]- [2]. China is in the transition stage from a "traditional manufacturing country" to an "emerging manufacturing country".…”

Section: Introductionmentioning

confidence: 99%

Sliding mode variable structure control of RP manipulator based on computational torque

Zhang,

et al. 2024

HSET

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Study the control problem of a coupled robotic arm with moving and rotating joints, a PID control method based on calculated torque is proposed. Considering that the robot model is difficult to obtain accurately, only its estimation model can be obtained. The output feedback signal is used to define the sliding mode surface function with error signal. Sliding mode variable structure controller(SMVSC) is designed based on the computational torque control method. Taking the mathematical model of RP robot as an example, Experimental calculations have found that the control accuracy can be guaranteed, but there is a significant chattering situation. In engineering practice, it is necessary to process the symbol function.

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“…Sternad et al [2] the variable conditions on which coordination depends have been analyzed and studied in detail, the measurement index of coordinated movement determines the quality of movement [3][4][5] . Chen et al [6] the •3• movement measurement of unilateral and bilateral arm movements was studied, and the results were applied to the rehabilitation therapy of perceiving arm daily activities.…”

Section: Introductionmentioning

confidence: 99%

Mapping method from human to robot arms with different kinematics

Bai

2023

Preprint

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The accurate modeling from human arms to humanoid machine arms is the premise of humanoid robot's anthropomorphic compliant movement. In this paper, a mapping method simulating human upper limb motion mechanism is proposed to solve this problem. This method reconstructs the human arm model quickly and maps it to the dual arm robot model. Firstly, the movement mechanism of human upper limb is analyzed and the upper limb model is established. According to the human double arm kinematics theory, the calculation of arm motion rotation center and the analysis of force and torque are carried out. Then the mapping concept is used to start from the human morphological structure, establish a robot model similar to the arm structure and motion of the human hand, and generate the anthropomorphic configuration. At last, the data collected from the movement of human double arms are matched with the robot model, and the experiment verifies the feasibility of the proposed mapping method.

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Dual-arm coordinated capturing of an unknown tumbling target based on efficient parameters estimation

Cited by 23 publications

References 33 publications

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

Sliding mode variable structure control of RP manipulator based on computational torque

Mapping method from human to robot arms with different kinematics

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