Hybrid modeling and analysis method for dynamic coupling of space robots

Xu, Wenfu; Peng, Jianqing; Liang, Bin; Zhang, Mu

doi:10.1109/taes.2015.140752

Cited by 111 publications

(30 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In general, for space robots, there are two working modes: free-flying mode (both the position and attitude of the base are actively controlled) and free-floating mode (neither of them is controlled) [26]. Although the free-floating mode has the fuel-saving advantage, the dynamic coupling and singularity complicate the trajectory planning and control of free-floating space robots [27]. In consideration of the operational accuracy and safety for space tasks, the bases of free-flying space robots can be controlled to stay still.…”

Section: Space Robot Simulator Designmentioning

confidence: 99%

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

Capture and removal of space debris is challenging in robotic on-orbit servicing (OOS) activities. A large portion of space debris does not possess any graspable features, which makes conventional grippers inapplicable. To handle such non-graspable objects, a space robotic capture system is presented. A dual-arm space robot simulator that has the advantages of miniaturization and scalability is designed for ground tests. Inspired by robotic caging, we propose a novel capture method that uses a series of hollow-shaped end-effector pairs to cage the antipodal pairs of non-graspable objects. To apply the caging-pair method steadily, space robots need exerting a squeezing action on objects, which can be characterized by the motion and force manipulation of two robotic arms in the assigned directions. Based on the velocity and force manipulability transmission ratios, a caging compatibility index is proposed to describe the capturing ability in this manner. Via the optimization of the desired caging compatibility index, an effective algorithm is proposed to plan near-optimal joint configurations for pre-grasping cages. Finally, both simulation studies and experimental tests are conducted to evaluate the performance of the proposed capture method. Index Terms-Non-graspable objects, space robot simulator, caging-pair method, caging compatibility index. R ! ! q q w J v J J Mv k J T Mv E k k k = t k J

show abstract

Section: Space Robot Simulator Designmentioning

confidence: 99%

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…whereq is the vector of the joint velocity (q = q 1 • • •q n T ) and J m the manipulator jacobian matrix which is defined in R 6×n [7]. As the base of the spacecraft is also moving the total kinematic equation of the end-effector of the space robot according to inertial reference frame ine expressed in the base B 0 is v e ω e = J bẋ0 + J mq (2) whereẋ 0 is the vector of the linear and angular velocity according to inertial reference frame ine expressed in the base…”

Section: Kinematicmentioning

confidence: 99%

“…An equivalent decomposition of the translation and rotation have been proposed by Xu in [7] to compute Joint-to-Base Coupling Factors. In order to deal with the range variation of each actuators, the following scaled jacobians will be used for analysis:…”

Section: Base Kinematic Indicesmentioning

confidence: 99%

“…The free-floating manipulator kinematic was well known [6] [7], and studies on space manipulator which consider kinetic moment exchange devices are focussed on the compensation of the reaction manipulator torque on the base [8][9] [10].Indeed as satellites integrate such devices to achieve attitude control, these actuators are most of the time controlled separately from the joint manipulator [11] and only few address the issue of the angular momentum distribution of the system [12] and its implication to the base actuators sizing [13].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic Indices of rotation-floating space robots for on-orbit servicing

Rognant

Kraïem

Sąsiadek

2019

Advances in Mechanism and Machine Science

View full text Add to dashboard Cite

There is a growing need for space and in-orbit operations that would require use of advance robotic systems. The robotics systems could be used in debris removal from orbits, as well as, in on-orbit servicing activities. This paper is addressing design and control problems related to autonomous spacecraft-manipulator system for space operation. The dynamics equations for rotation floating manipulator were introduced using Lagrange approach with additional states representing the kinetic moment exchange actuators. In this paper, a serial-link manipulator with multi degree of freedoms mounted on the satellite platform was used. For detailed analysis of base motion and manipulability of the end effector, the special indices were introduced. Simulation examples to illustrate kinematic indices were shown with physical parameters for a microsatellite from Myriade series equipped with a robotic arm.

show abstract

“…Since the position and attitude of the base are significantly influenced by the motion of manipulator, Wang and Xie (2012) demonstrated that the end-effector is not able to reach the desired pose due to unavoidable dynamic coupling between the end-effector and base. Therefore, designing a control system together with obtaining optimal configuration of a robot manipulator at the capturing moment seems to be necessary (Xu et al, 2016). Additionally, Lampariello et al (2011) showed that the long convergence time because of the required numerical iterations is the main drawback of optimizing joint trajectories in capture process.…”

Section: Introductionmentioning

confidence: 99%

A New Buffer in Impact Reduction for Aerospace Applications

Alibakhshi

Daneshjou

2018

Lat. Am. j. solids struct.

View full text Add to dashboard Cite

The aim of this paper is to introduce a new buffering mechanism in impact reduction during assembly process of two space vehicles. Probe-cone mechanism, due to its computational easiness, is employed to study impact interaction between multibody systems. The proposed buffer with a compact structure includes a probe equipped with axial and torsional flexibilities during impact condition. Since all constraints in the problem are holonomic, the unconstrained form of Lagrangian approach will be used to derive the system's equations of motion. The Lankarani-Nikravesh contact force model, because of its advantages in multibody systems, is applied to investigate dynamic behavior of vehicles during impact-contact event. A key factor in capture process of two vehicles is to determine the proper parameters of buffer. To do this, a strategy will be introduced to evaluate the coefficients of buffer. First, the theoretical model is solved and the obtained results are verified by those recently reported for special case related to impact analysis of two space vehicles carrying flexible probe. Second, the entire capture process will be built in MATLAB/Simulink's SimMechanics multibody software to ascertain the correctness of theoretical model. Then, a simple ground-based experimental setup will be established to only prove the effectiveness of the proposed capturing system. The obtained results indicate that the proposed buffer leads to considerably reduce the peak value of impact force, to remarkably increase total contact time and to successfully perform capture process.

show abstract

Hybrid modeling and analysis method for dynamic coupling of space robots

Cited by 111 publications

References 33 publications

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Kinematic Indices of rotation-floating space robots for on-orbit servicing

A New Buffer in Impact Reduction for Aerospace Applications

Contact Info

Product

Resources

About