Hand-eye servo and impedance control for manipulator arm to capture target satellite safely

Ma, Gan; Jiang, Zhihong; Li, Hui; Gao, Junyao; Yu, Zhangguo; Liu, Yunhui

doi:10.1017/s0263574714000587

Cited by 26 publications

(7 citation statements)

References 30 publications

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“…FIGURES 16,19,22 plot the time histories of the close angle of the end-effector. As could be seen in FIGURES 14,15,17,18,20,21, there are oscillations in all of the distance and relative velocity curves in the initial stage of three simulations. These illustrate that there are multiple collisions between the space robot and the target satellite in this stage.…”

Section: A Effectiveness Evaluation Of the Control Methodsmentioning

confidence: 71%

“…Apart from the mentioned works, the impedance control method has been employed by many other researchers to design the grasping controller. For example, the impedance control was adopted by Ma et al [20] to protect the robot arm from bending and twisting caused by the contact force in the grasping process. A disturbance-based impedance controller was designed by Flores-Abad et al [21] for grasping operation.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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Grasping a non-cooperative ''customer satellite'' with a robotic arm is a challenging task for on-orbit services of spacecraft since the collision between the robot and the target is inevitable and the dynamic behaviors of the two objects are hard to control after the collision. To grasp successfully, the contact between the space robot and the target is hoped to be maintained after the collision. In this paper, the contact control problem for grasping a non-cooperative satellite is studied. First, to simulate the contact conditions as realistic as possible, the multibody dynamics, the modified Hertz contact, and the contact detection theory are employed to establish a grasping dynamics model. Then, based on the study on the dynamic behavior of the two-ball collision problem, a hybrid control scheme with damping and attitude tracking controllers is proposed. By this scheme, the control goal, i.e. maintaining the contact between the robot and the target, can be realized after multiple collisions. Finally, numerical simulations are performed to validate the proposed control scheme, and the results demonstrate its effectiveness in grasping a non-cooperative tumbling satellite.

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Section: A Effectiveness Evaluation Of the Control Methodsmentioning

confidence: 71%

Section: Introductionmentioning

confidence: 99%

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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“…To capture a target robustly without precise motion tracking and large force interaction, a novel gripper design in conjunction with the application of an impedance control law was proposed in Hirano et al (2017) . To minimize interaction forces between a robot manipulator and a satellite, while maintaining contact, an approach based on direct force control in the presence of a rigid grasp was proposed in Seweryn, et al (2018) , while a solution to minimize the risk of damage to the arm and thereby enhance contact performance was presented in Ma et al (2015) . However, both designs require control mode switching.…”

Section: Feedback Controlmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

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“…where are the values of the time derivative of the classical interaction matrices for each of the feature points. Equation (39) contains the unknown term whose expression can be found considering that:…”

Section: Visual Servoing In the Invariant Spacementioning

confidence: 99%

Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

Pomares

Felicetti

Pérez

et al. 2018

Advances in Space Research

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An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

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Hand-eye servo and impedance control for manipulator arm to capture target satellite safely

Cited by 26 publications

References 30 publications

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

Robotic Manipulation and Capture in Space: A Survey

Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

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