Dynamic Balance Control of Multi-Arm Free-Floating Space Robots

Huang, Panfeng; Xu, Yangsheng; Liang, Bin

doi:10.5772/5797

Cited by 63 publications

(34 citation statements)

References 10 publications

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“…Along with the solution of a conventional end-effector trajectory tracking, a solution of base motion control was also obtained. The use of a dualarm manipulator for minimizing disturbances to the base spacecraft is suggested in [110,111]. In the method one of the arms is controlled to compensate for the disturbance caused by the other arm.…”

Section: A2 Non-holonomic Controlmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: A2 Non-holonomic Controlmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…In these phases, the approach phase is a most important step for space manipulator due to its free-floating base. Therefore, the dynamic reaction forces and moments due to the manipulator motion will disturb its free-floating base [1], the longer the motion time of space manipulator is, the greater the disturbance to the base will be. Hence, the operation precise of the end-effector will be affected severely.…”

Section: Introductionmentioning

confidence: 99%

Multi-objective genetic algorithms for trajectory optimization of space manipulator

Liu

Huang

Yan

et al. 2009

2009 4th IEEE Conference on Industrial Electronics and Applications

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This paper propose a multi-objective optimization algorithm to optimize the motion path of space manipulator with multi-objective function. In this formulation, Multi-Objective Genetic Algorithm (MOGA) is used to minimize the multiobjective function. The planning procedure is performed in joint space and with respect to all constraints, such as joint angle constraints, joint velocity constraints, torque constraints. We use a MOGA to search the optimal joint inter-knot parameters in order to realize the optimal motion trajectory for space manipulator. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation results test that the proposed multi-objective genetic algorithm has satisfactory performance.

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“…Yoshida et al [32] addressed the zero reaction maneuver (ZRM) concept, but the existence of ZRM is very limited for a 6-DOF manipulator. Yoshida [33] and Huang et al [6] proposed that one of the manipulators of a free-flying system should move to compensate for the disturbance created by the other. It is a useful method, but will augment the cost of the project and the complexity of the control algorithm.…”

Section: Introductionmentioning

confidence: 99%