Real-time dynamic singularity avoidance while visual servoing of a dual-arm space robot

Mithun, P.; Anurag, V. V.; Bhardwaj, Mayank; Shah, Suril V.

doi:10.1145/2783449.2783480

Cited by 3 publications

(3 citation statements)

References 17 publications

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“…For closed chain configurations, constraints may be applied kinematically through the Jacobians [257]. Nevertheless, dual arms introduce greater challenges in avoiding dynamic singularities [258]. This reinforces the necessity of simplifying controllers for space-based manipulators using dedicated attitude control permitting decoupling of linear and angular momentum aspects [259].…”

Section: Dual-manipulator Controlmentioning

confidence: 99%

Tutorial Review on Space Manipulators for Space Debris Mitigation

Ellery

2019

Robotics

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Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.

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Section: Dual-manipulator Controlmentioning

confidence: 99%

Tutorial Review on Space Manipulators for Space Debris Mitigation

Ellery

2019

Robotics

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“…In the practical situation, the numerical solutions ofJ G and ∂(J G x)/∂x can be obtained much easier than the analytic one. 29 And two feasible numerical methods are listed and compared below. Method 1: Since the general Jacobian of the FFSR is a function of base attitude and joint angle, it can be expressed as J G (θ, σ ), where σ is the RPY angle of the base.…”

Section: Numerical Solution Of the Differential Termmentioning

confidence: 99%

“…Method 1: Since the general Jacobian of the FFSR is a function of base attitude and joint angle, it can be expressed as J G (θ, σ ), where σ is the RPY angle of the base. Thus,J G can be approximated by the following equation:J (29) whereσ i and σ i are the ith terms ofσ and σ , respectively; J bσ and J bω are the analytical Jacobian and geometric Jacobian with respect to the base attitude, respectively. 20 Furthermore, the following equation is obtained:…”

Section: Numerical Solution Of the Differential Termmentioning

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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Adaptive operation-space control of redundant manipulators with joint limits avoidance

Sun

2018

2018 Tenth International Conference on Advanced Computational Intelligence (ICACI)

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Real-time dynamic singularity avoidance while visual servoing of a dual-arm space robot

Cited by 3 publications

References 17 publications

Tutorial Review on Space Manipulators for Space Debris Mitigation

Tutorial Review on Space Manipulators for Space Debris Mitigation

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

Adaptive operation-space control of redundant manipulators with joint limits avoidance

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