Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning

Calzolari, Davide; Lampariello, Roberto; Giordano, Alessandro M.

doi:10.15607/rss.2020.xvi.015

Cited by 6 publications

(5 citation statements)

References 38 publications

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“…The method could be extended with a singularity avoidance [34, p. 38] to limit the occurrence of singularity. In practice, suitably pre-planned trajectories [18,43] are normally employed to limit the occurrence of singularities, and may be employed also in the present case.…”

Section: Discussion Of the Experimental Results And Limitationsmentioning

confidence: 99%

Coordination of thrusters, reaction wheels, and arm in orbital robots

Giordano

Dietrich

Ott

et al. 2020

Robotics and Autonomous Systems

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A fuel-efficient control strategy for a manipulator-equipped spacecraft is presented. The strategy uses the thrusters, the reaction wheels, and the arm drives in a coordinated way to limit the use of the thrusters and achieve ideally zero fuel consumption in contact-free maneuvering. The thrusters are activated automatically only after contact, to stabilize the inertial motion of the system. The controller regulates the translation of the center-of-mass (CoM) of the whole space robot, the rotation of the spacecraft, and the pose of the end-effector (EE) in a decoupled way, utilizing the thrusters to control the CoM translation only and the remaining actuators to control the rotation and endeffector coordinately. The method is validated experimentally using a hardware-in-the-loop simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a 6DOF simulated spacecraft. Numerical simulations with discrete thrusters assess the fuel efficiency of the proposed strategy.

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Section: Discussion Of the Experimental Results And Limitationsmentioning

confidence: 99%

Coordination of thrusters, reaction wheels, and arm in orbital robots

Giordano

Dietrich

Ott

et al. 2020

Robotics and Autonomous Systems

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“…A similar approach was presented in Agrawal et al (2009). By making use of the inverted chain formulation (Abiko et al, 2006) and of free-floating robot dynamics properties presented in Cusumano et al (2004), an efficient and complete method for generating singularity maps in the joint space of a 6-DoF freefloating robot is presented in Calzolari et al (2020). Given the location of the singularities, the singularity avoidance can be treated as a collision avoidance problem, to increase the efficiency of the motion planning task in a nonlinear programming setting.…”

Section: Singularity Avoidancementioning

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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“…The external wrench is measurable by an end effector-mounted force torque sensor or by an observer [24], [25]. The singularity of the controller corresponds to the singularities of the generalized Jacobian J * em and can be avoided via trajectory planning [26].…”

Section: A Controller Implementationmentioning

confidence: 99%

Compliant Floating-Base Control of Space Robots

Giordano

Calzolari

Stefano

et al. 2021

IEEE Robot. Autom. Lett.

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This letter presents a compliant feedback controller of an arm-equipped spacecraft, which does not enforce requirements on the spacecraft position and attitude. The controller is applicable to the pre-contact, contact, and post-contact phases of a robotic operation. In contrast to conventional floating-base strategies, the controller eliminates the instability of the system during a steady contact, and thus can be used in realistic applications. The controller uses an external-internal transposed-Jacobian control for compliant regulation of the end-effector, together with regulation of the whole-body Center-of-Mass (CoM) and angular momentum for achieving post-contact stability, and force feedback for achieving a stable contact phase. The method is validated experimentally using a hardware-in-the-loop simulator composed of a seven degrees-offreedom (DOF) arm mounted on a 6 DOF simulated spacecraft. Numerical simulations further validate the method considering a realistic thrusters system, measurement noise, and time delay.

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Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning

Cited by 6 publications

References 38 publications

Coordination of thrusters, reaction wheels, and arm in orbital robots

Coordination of thrusters, reaction wheels, and arm in orbital robots

Robotic Manipulation and Capture in Space: A Survey

Compliant Floating-Base Control of Space Robots

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