Singularity-free dynamic equations of spacecraft-manipulator systems

From, Pål Johan; Pettersen, Kristin Y.; Gravdahl, Jan Tommy

doi:10.1016/j.actaastro.2011.06.014

Cited by 11 publications

(3 citation statements)

References 19 publications

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“…Lie groups is an alternative representation of kinematics that uses the product of exponentials formulation [114,115], but we have adopted the more familiar and more intuitive Denavit-Hartenburg matrix representation. Manipulator kinematics define the relationship between the manipulator joint angles, link geometry and the end effector position and orientation.…”

Section: Freeflyer Manipulator Kinematicsmentioning

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: Freeflyer Manipulator Kinematicsmentioning

confidence: 99%

Tutorial Review on Space Manipulators for Space Debris Mitigation

Ellery

2019

Robotics

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“…This includes the application of the Lie algebra se (3) to describe the differential kinematics and dynamics of multibody systems, where derivations of differential kinematics rely on the fact that the vector representation of se(3) is a twist, which can be transformed by an adjoint map Ad SE (3) . This was used for rigid mechanisms in [20], [21], and [22], and for flexible systems in [23] and [24]. The fact that a twist is a screw given in Plücker coordinates allows for an alternative formulation in terms of screw theory [25], [26], where the geometrical interpretation of the derivations may be more evident.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Dynamics of Flexible Robotic Manipulators Using Dual Screws

Cibicik

Egeland

2021

IEEE Trans. Robot.

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In this article, we present a new procedure for the derivation of the linearized kinematics and dynamics of a flexible industrial robotic manipulator. We introduce the Lie groups of dual rotation and dual homogeneous transformation matrices, which are the basis for the derivation of dual twists. In addition, dual screws and dual screw transformation matrices are introduced, which are used for the development of a general and systematic linearization procedure for both kinematics and dynamics. This leads to expressions that are linearized in all the states associated with the elastic motion. The dynamic modeling procedure is based on Kane's method, where the partial velocities and partial angular velocities are given as dual screws arranged as columns of dual projection matrices. The elasticity of the links is modeled by the assumed mode method. The presented procedure is implemented numerically for a 4-degrees of freedom manipulator and the simulation results are given.

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“…A free-floating space manipulator has properties of strong nonlinearities, nonholonomic constraints, and dynamic singularities [5,6]. Therefore, control of free-floating space manipulators becomes a challenging task [7,8].…”

Section: Introductionmentioning

confidence: 99%

Zero-Disturbance Control of Free-Floating Space Manipulators Using Integral-Type Sliding Mode Control

Li²

2015

Mathematical Problems in Engineering

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A free-floating space manipulator is an underactuated system, of which the spacecraft is permitted to rotate freely in response to the manipulator motions. The dynamic coupling property between the spacecraft and the manipulator makes motion control of such systems a significant challenge. In the paper, a zero-disturbance control method for free-floating space manipulators operating in task space is presented. An explicit direct relationship between the spacecraft attitude quaternions and the manipulator joint variables is established using nonholonomic constraints of the angular momentum conservation. By this means the kinematic redundancy of the system is used to adjust the spacecraft attitude. An integral-type sliding mode controller with adaptive switching gains is developed for coordinated motion control of the spacecraft and the manipulator. Simulations on three-link planar model show that the spacecraft remains undisturbed during the whole process of manipulations, which confirms the effectiveness of the proposed method.

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Singularity-free dynamic equations of spacecraft-manipulator systems

Cited by 11 publications

References 19 publications

Tutorial Review on Space Manipulators for Space Debris Mitigation

Tutorial Review on Space Manipulators for Space Debris Mitigation

Kinematics and Dynamics of Flexible Robotic Manipulators Using Dual Screws

Zero-Disturbance Control of Free-Floating Space Manipulators Using Integral-Type Sliding Mode Control

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