Reactionless Maneuvering of a Space Robot in Precapture Phase

James, Francis G.; Shah, Suril V.; Singh, Arun Kumar; Krishna, K. Madhava; Misra, A. K.

doi:10.2514/1.g001828

Cited by 41 publications

(14 citation statements)

References 14 publications

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“…Due to the long computation times involved in the motion planning, a look-up table approach was presented in Lampariello and Hirzinger (2013) to provide feasible optimal solutions for a range of spin rates of the target in a useful time, however with computation of the trajectories on a computer on ground. A reactionless approach of a two-arm space robot, in the precapture phase, where the motion of the second arm was used as a fuel-free means of attitude disturbance cancellation, was presented in James et al (2016). In Flores-Abad et al (2017) an optimal control problem was also formulated with the indirect method in joint space, aiming at minimization of torque applied by the robot on the free-floating chaser, while moving towards the grasping point.…”

Section: Pre-grasping Motion Planningmentioning

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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Section: Pre-grasping Motion Planningmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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“…where ψ is the angle-axis that represents the same attitude noted by quaternion; I 3×3 is the 3 × 3 unit matrix; ω e is the end angular velocity; φ and n are the rotation angle and rotation axis in ψ, respectively, which can be obtained from quaternion by Eqs. (7) and (8); and n× is the skew-symmetric matrix of vector, which is defined as Eq. (9).…”

Section: The Interpolation Of End Posementioning

confidence: 99%

“…The Rapidly Exploring Random Trees was employed by Francis James to deal with nonholonomic constraint problem in space robot. 8 However, because of the time-consuming calculation process, the method cannot be applied to visual servoing system, while visual servoing system usually plays an important role in the rendezvous and docking tasks.…”

Section: Introductionmentioning

confidence: 99%

Minimum Base Disturbance Control of Free-Floating Space Robot during Visual Servoing Pre-capturing Process

et al. 2019

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SUMMARYDuring visual servoing space activities, the attitude of free-floating space robot may be disturbed due to dynamics coupling between the satellite base and the manipulator. And the disturbance may cause communication interruption between space robot and control center on earth. However, it often happens that the redundancy of manipulator is not enough to fully eliminate this disturbance. In this paper, a method named off-line optimizing visual servoing algorithm is innovatively proposed to minimize the base disturbance during the visual servoing process where the degrees-of-freedom of the manipulator is not enough for a zero-reaction control. Based on the characteristic of visual servoing process and the robot system modeling, the optimal control method is applied to achieve the optimization, and a pose planning method is presented to achieve a second-order continuity of quaternion getting rid of the interruption caused by ambiguity. Then simulations are carried out to verify the method, and the results show that the robot is controlled with optimized results during visual servoing process and the joint trajectories are smooth.

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“…In [24], using ideas from optimal control, exciting trajectories were designed within 8 minutes for a single link 6-DoF system. However, with increasing number of dimensions, optimal control strategies often consume hours of computation time [5]. Furthermore, exciting all the minimal parameters with a single motion is difficult [22].…”

Section: B Experiments Designmentioning

confidence: 99%

“…They are also a potential solution to remove space debris and harvest retired satellites [1]. On-orbit tasks demand an accurate motion planning and control of a space robot, which in turn rely on the kinematic and dynamic models [2][3][4][5]. Unlike a fixed-base robot, the kinematics of a space robot is a function of the mass, the position of center of mass (CoM), and the inertia tensor of the links, evident from the Generalized Jacobian Matrix [2].…”

Section: Introductionmentioning

confidence: 99%

Momentum Model-Based Minimal Parameter Identification of a Space Robot

Naveen

Shah

Misra

2019

Journal of Guidance, Control, and Dynamics

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Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is available from experiments and computer-aided design (CAD) models. After the launch, onorbit operations substantially alter the value of inertial parameters. In this work, we propose a new momentum model-based method for identifying the minimal parameters of a space robot while on orbit. Minimal parameters are combinations of the inertial parameters of the links and uniquely define the momentum and dynamic models. Consequently, they are sufficient for motion planning and control of both the satellite and robotic arms mounted on it. The key to the proposed framework is the unique formulation of momentum model in the linear form of minimal parameters. Further, to estimate the minimal parameters, we propose a novel joint trajectory planning and optimization technique based on direction combinations of joints' velocity. The efficacy of the identification framework is demonstrated on a 12 degreesof-freedom, spatial, dual-arm space robot. The methodology is developed for tree-type space robots, requires just the pose and twist data, and scalable with increasing number of joints.

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Reactionless Maneuvering of a Space Robot in Precapture Phase

Cited by 41 publications

References 14 publications

Robotic Manipulation and Capture in Space: A Survey

Robotic Manipulation and Capture in Space: A Survey

Minimum Base Disturbance Control of Free-Floating Space Robot during Visual Servoing Pre-capturing Process

Momentum Model-Based Minimal Parameter Identification of a Space Robot

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