Finite-Horizon Kinetic Energy Optimization of a Redundant Space Manipulator

Tringali, Alessandro; Cocuzza, Silvio

doi:10.3390/app11052346

Cited by 13 publications

(5 citation statements)

References 26 publications

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“…Indeed, as demonstrated in [12], a torque transferred to the UAV CoG causes an undesired large horizontal displacement of the UAV, which in turn jeopardizes the end-effector precision. On the other hand, global [19] and nearly-global [20] optimization approaches have been developed in the case of fixed-base and of space manipulators, and their applicability to the case of aerial manipulators will be part of future work. Indeed, as demonstrated in [12], a torque transferred to the UAV CoG causes an undesired large horizontal displacement of the UAV, which in turn jeopardizes the endeffector precision.…”

Section: Unmanned Aerial Manipulator Dynamics and Control Modelmentioning

confidence: 99%

Zero Reaction Torque Trajectory Tracking of an Aerial Manipulator through Extended Generalized Jacobian

2022

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Aerial manipulators are used in industrial and service robotics tasks such as assembly, inspection, and maintenance. One of the main challenges in aerial manipulation is related to the motion of the UAV base caused by manipulator disturbance torques and forces, which jeopardize the precision of the robot manipulator. In this paper, we propose two novel inverse kinematic control methods used to track a trajectory with an aerial manipulator while also considering resultant UAV base motions. The first method is adapted from the generalized Jacobian formulation used in space robotics and includes the change in system momentum resulting from gravity and UAV control forces in the inverse kinematic control equation. This approach is simulated for a 2 and 3 degree-of-freedom aerial manipulator tracking trajectories with the end-effector. Although the end-effector position error is approximately zero throughout the simulated task, we see significant undesired UAV base motions of several centimeters in magnitude. To ameliorate this by exploiting the kinematic redundancy, we modify the generalized Jacobian by adding an additional task constraint which minimizes the reaction torques from the manipulator, to form the extended generalized Jacobian. While the second approach results in improved precision and reduced base motion by an order of magnitude as compared to the generalized Jacobian, a drawback is the reduction in the available workspace as the solution seeks to minimize the manipulator center of gravity translation. We also demonstrate and compare both approaches in a load picking task. All the algorithms are completed computationally faster than real time in the MATLAB simulations, illustrating their potential for application in real-world experiments.

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Section: Unmanned Aerial Manipulator Dynamics and Control Modelmentioning

confidence: 99%

Zero Reaction Torque Trajectory Tracking of an Aerial Manipulator through Extended Generalized Jacobian

2022

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“…Stolfi et al [43], to absorb the impact energy, described the space manipulator end-effector as a mass-spring-damping system without considering the base reaction force, as shown in Figure 5. Tringali et al [44] based on the optimization of the kinetic energy integral over a finite subset of the future endeffector path points so that the manipulator's joints move towards the minimum kinetic energy. Their proposed method outperforms the pseudo-inverse-based method.…”

Section: Spatial Robotic Arms Obstacle Avoidance Trajectory Planning ...mentioning

confidence: 99%

A Review of Spatial Robotic Arm Trajectory Planning

et al. 2022

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With space technology development, the spatial robotic arm plays an increasingly important role in space activities. Spatial robotic arms can effectively replace humans to complete in-orbit service tasks. The trajectory planning is the basis of robotic arm motion. Its merit has an essential impact on the quality of the completed operation. The research on spatial robotic arm trajectory planning has not yet formed a broad framework categorization, so it is necessary to analyze and deeply summarize the existing research systematically. This paper introduces the current situation of space obstacle avoidance trajectory planning and motion trajectory planning. It discusses the basic principle and practical application of the spatial robotic arm trajectory planning method. The future development trend has also been prospected.

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“…The vibration of the UAV frame [36,37] and the motion of a robot manipulator mounted on the UAV [38] might affect the system dynamics and motion planning, and this will be investigated in future works. In particular, a reactionless motion of the manipulator [39][40][41][42] will be beneficial because it will not significantly affect the system dynamics.…”

Section: Introductionmentioning

confidence: 99%

Modified A-Star (A*) Approach to Plan the Motion of a Quadrotor UAV in Three-Dimensional Obstacle-Cluttered Environment

et al. 2022

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Motion-planning algorithms play a vital role in attaining various levels of autonomy for any ground or flying agent. Three-dimensional (3D) motion-planning is interesting, but rather complex, especially for flying agents such as autonomous unmanned aerial vehicles (UAVs), due to the increased dimensionality of space and consideration of dynamical constraints for a feasible trajectory. Usually, in 3D path search problems, it is hard to avoid extra expanded nodes due to increased dimensionality with various available search options. Therefore, this paper discusses and implements a modified heuristic-based A* formalism that uses a truncation mechanism in order to eradicate the mentioned problem. In this formalism, the complete motion planning is divided into shortest path search problem and smooth trajectory generation. The shortest path search problem is subdivided into an initial naïve guess of the path and the truncation of the extra nodes. To find a naïve shortest path, a conventional two-dimensional (2D) A* algorithm is augmented for 3D space with six-sided search. This approach led to the inclusion of extra expanded nodes and, therefore, it is not the shortest one. Hence, a truncation algorithm is developed to further process this path in order to truncate the extra expanded nodes and then to shorten the path length. This new approach significantly reduces the path length and renders only those nodes that are obstacle-free. The latter is ensured using a collision detection algorithm during the truncation process. Subsequently, the nodes of this shortened path are used to generate a dynamically feasible and optimal trajectory for the quadrotor UAV. Optimal trajectory generation requires that the plant dynamics must be differentially flat. Therefore, the corresponding proof is presented to ensure generation of the optimal trajectory. This optimal trajectory minimizes the control effort and ensures longer endurance. Moreover, quadrotor model and controllers are derived as preliminaries, which are subsequently used to track the desired trajectory generated by the trajectory planner. Finally, results of numerical simulations which ultimately validate the theoretical developments are presented.

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Finite-Horizon Kinetic Energy Optimization of a Redundant Space Manipulator

Cited by 13 publications

References 26 publications

Zero Reaction Torque Trajectory Tracking of an Aerial Manipulator through Extended Generalized Jacobian

Zero Reaction Torque Trajectory Tracking of an Aerial Manipulator through Extended Generalized Jacobian

A Review of Spatial Robotic Arm Trajectory Planning

Modified A-Star (A*) Approach to Plan the Motion of a Quadrotor UAV in Three-Dimensional Obstacle-Cluttered Environment

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