Space robotics supporting exploration missions: vision, force control and coordination strategy for crew assistants

Zereik, Enrica; Sorbara, A.; Merlo, Andrea; Simetti, Enrico; Casalino, Giuseppe; Didot, F.

doi:10.1007/s11370-010-0084-1

Cited by 11 publications

(8 citation statements)

References 8 publications

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“…Then, the relative error of the output voltage of the full-bridge circuit is evaluated by (2), which indicates that output voltage Δ ∝ and ∝ 1/ . Parameters and are the gage factor of strain gauges and elastic modulus of the elastic elements of designed flexure, respectively.…”

Section: Temperature Effect Analysismentioning

confidence: 99%

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Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

NanZhe

Jia

Xue

et al. 2013

Advances in Mechanical Engineering

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This paper describes the development of a compact and lightweight joint torque sensor for space manipulators. Space manipulators with torque sensors can not only apply force control approach to more precise and more dexterous space missions, but also monitor the occurrence of unpredicted events as accidental impacts with objects they have to manipulate. At present, most of the compact torque sensors, designed without consideration of space environment, cannot be directly used in space applications. In this paper, we propose a compact and lightweight design for the joint torque sensor based on strain gauge, for the reason of good physical, chemical, and mechanical stabilities under high temperature environment. In addition, to reduce the interferences by axial forces generated by assembling condition and joint motors, the structural optimization for the sensing element is carried out. The proposed design is simulated by FEM software ANSYS, and it shows successful measurements of the torque with a load capacity of 10 Nm, which is sufficient for the torque generated in robot joints. The effect of axial loading is also analyzed by ANSYS. The designed sensor is manufactured by duralumin alloy. The calibration for the sensor is carried out, and several experiments are conducted to ensure its feasibility with the space manipulator.

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Section: Temperature Effect Analysismentioning

confidence: 99%

“…Besides handling and assembling of large payloads, more precise and more dexterous space missions such as onorbit maintainability and on-orbit capture appear in space [1][2][3][4]. These space missions promote the development of high performance space manipulator systems, which can move as dexterous as the arm of a man [5,6].…”

Section: Introductionmentioning

confidence: 99%

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

NanZhe

Jia

Xue

et al. 2013

Advances in Mechanical Engineering

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“…The Italian funded MARIS project [29] is dealing with the development of control algorithms capable of integrating single, dual arm and cooperative UVMSs within a common control framework [30], [31]. Indeed, the contribution of this paper is the extension of the control framework developed within the TRIDENT project to the case of cooperating UVMSs, building on the authors' previous experience on cooperative mobile robotics [32], [33].…”

Section: Introductionmentioning

confidence: 99%

“…For example, acoustic modems available within ISME (see for example the S2CR- [18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33][34] Modem, capable of 13.9 kbit/s at short ranges [36] in the most favorable conditions) have only a bandwidth of 976 bit/s whenever small packets need to be sent, which would allow a maximum theoretical exchange rate of 5 Hz.…”

Section: Introductionmentioning

confidence: 99%

Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems

Simetti

Casalino

2017

IEEE J. Oceanic Eng.

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Autonomous underwater manipulation has been a topic of interest since the early 1990s. In the past few years, several milestone projects such as SAUVIM and TRIDENT have demonstrated autonomy capabilities for a single underwater vehicle manipulator system (UVMS) in performing simple manipulation tasks, e.g., the recovery of an object from the seafloor. The Italian funded MARIS project aims to extend some of these results to multiple UVMSs performing a cooperative transportation task of a long object such as a pipe. This paper presents the results achieved in developing a unifying architecture for the control of both individually and cooperatively operating UVMSs which explicitly makes use of a limited amount of information exchange between the agents, which is needed due to the severe bandwidth limitations of the underwater acoustic communications. A complete execution of the reference transportation mission is presented to support the proposed distributed algorithm. Furthermore, hydrodynamic simulations of the cooperative transportation phase are presented and an analysis of the achievable performances as different communication schemes are employed is given

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“…With the rapid development of space technology, the number of the human exploratory activities in space has constantly increased. Besides handling and assembling of large payloads, more precise and more dextrous space missions such as on-orbit maintainability, on-orbit capture appear in space, etc [1][2][3][4]. These space missions promote the development of high performance space manipulator systems, which could move as dextrous as the arm of a man.…”

Section: Introductionmentioning

confidence: 99%

Flexible Joint Control System Design for Space Modular Robotic System with Torque Feedback

NanZhe¹,

Zhang²,

Jia

2012

AISS

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In this paper, a design of modularized flexible-joint servo control system for a space manipulator system is presented. First of all, the structure and sensor system of dual-joint is introduced. Next, the features of the hardware system of the dual-joint controller is described, as well as design details and fault tolerant mechanism. Moreover, the working principle of joint torque sensor is analyzed emphatically. The structural optimization design of the joint torque sensor is carried out with the help of the ANSYS program for weight minimization. After that, a position control strategy with joint torque feedback is provided to improve both precision and bandwidth of the control system. Finally, the performance specifications of the dual-joint control system are presented. Experimental results demonstrate the effectiveness of the compact joint servo controller for the space manipulator system.

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Space robotics supporting exploration missions: vision, force control and coordination strategy for crew assistants

Cited by 11 publications

References 8 publications

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems

Flexible Joint Control System Design for Space Modular Robotic System with Torque Feedback

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