The kinematics, dynamics, and control of free-flying and free-floating space robotic systems

Dubowsky, Steven; Papadopoulos, Evangelos

doi:10.1109/70.258046

Cited by 405 publications

(184 citation statements)

References 33 publications

Supporting

Mentioning

178

Contrasting

Unclassified

Order By: Relevance

“…1,2,[5][6][7] The difficulty of recreating the dynamic conditions of a space-based manipulator in a laboratory environment has limited the availability of validation experiments of autonomous capture maneuvers by highly dynamically coupled space manipulator systems. Even without considering systems with high dynamic coupling, this type of experiments have been scarce.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Virgili-Llop

Drew

Zappulla

et al. 2016

AIAA/AAS Astrodynamics Specialist Conference

View full text Add to dashboard Cite

This paper describes a set of laboratory-based experiments, which demonstrate the autonomous capture of a non-moving resident space object by a spacecraft equipped with a single robotic manipulator. An air bearing test bed is used to simulate weightlessness and frictionless maneuvering on a plane. The chaser is composed by a floating spacecraft simulator carrying a kinematically redundant four-link serial manipulator. The manipulator mass is similar to the mass of its base-spacecraft, resulting in an unusually large dynamic coupling. Emphasis is given to the guidance and control, demonstrating floating, flying and rotation-flying coordinated control strategies. A resolved-motion-rate controller regulates the manipulator joint velocities. The relative navigation problem, solved by the test bed metrology system, has been left outside the scope of this effort. The presented experiments increase the number of space robotics experimental evaluations conducted in dynamically representative environments. Nomenclature

show abstract

Section: Introductionmentioning

confidence: 99%

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Virgili-Llop

Drew

Zappulla

et al. 2016

AIAA/AAS Astrodynamics Specialist Conference

View full text Add to dashboard Cite

show abstract

“…This makes control and planning of robotic end effector trajectories highly complicated (Dubowsky & Papadopoulos, 1993). The simulation plays an important role in complex trajectory planning task especially as the space manipulator can have more than conventional number of six degrees of freedom.…”

Section: Space Roboticsmentioning

confidence: 99%

Robot Simulation for Control Design

Žlajpah¹

2010

Robot Manipulators Trends and Development

View full text Add to dashboard Cite

Research in the field of robotics is tightly connected to simulation tools for many reasons. On one side, simulation supports the development of new advanced control algorithms and on the other side, it is always not feasible to build a whole robot system to test some algorithms or it is not safe to perform tests on a real system (at least in the first design stages). The simulation has also a very important role for off-line programming, to design mechanical structure of robots, to design robotic cells and production lines, etc. In the paper, an overview of the simulation in robotics is given and some topics like: how simulation makes things easier, advantages and backdraws of the simulation in robotics, virtual and real world, are pointed out. The scope of the paper is the role of the simulation in different fields of robotics, especially the dynamic simulation of robot manipulators. We present an integrated environment for the design and testing of advanced robot control schemes. The main capabilities of such environment are: the simulation of the kinematics and dynamics of manipulators, the integration of different sensor systems like vision and force sensors, scenarios for complex robot tasks, the visualization of robots and their environment and the integration of real robots in the simulation loop. We give an overview of simulation and visualization tools suitable for the simulation of robot systems using general dynamic engines and graphic languages. Finally, we present some typical simulation examples in different fields of robotics from offline programming, mobile robots to space robotics.

show abstract

“…For space manipulators, the motions of the spacecraft and the torques of its attitude control system must be considered. The movement of a space robot's manipulator can disturb its spacecraft base and the control must take these disturbances into account (Dubowsky and Papadopoulos 1993). Figure 2 shows a system equipped for SBSC.…”

Section: Approachmentioning

confidence: 99%

A Kinematic Approach to Determining the Optimal Actuator Sensor Architecture for Space Robots

Boning¹,

Dubowsky²

2010

The International Journal of Robotics Research

View full text Add to dashboard Cite

Autonomous space robots will be required for such future missions as the construction of large space structures and repairing disabled satellites. These robots will need to be precisely controlled. However, factors such as manipulator joint/actuator friction and spacecraft attitude control thruster inaccuracies can substantially degrade control system performance. Sensor-based control algorithms can be used to mitigate the effects of actuator error, but sensors can add substantially to a space system’s weight, complexity, and cost, and reduce its reliability. Here, a method is presented to determine the sensor architecture that uses the minimum number of sensors that can simultaneously compensate for errors and disturbance in a space robot’s manipulator joint actuators, spacecraft thrusters, and reaction wheels. The placement and minimal number of sensors is determined by analytically structuring the system into “canonical chains” that consist of the manipulator links and spacecraft with force/torque sensors placed between the space robot’s spacecraft and its manipulators. These chains are combined to determine the number of sensors needed for the entire system. Examples of one- and two-manipulator space robots are studied and the results are validated by simulation.

show abstract

The kinematics, dynamics, and control of free-flying and free-floating space robotic systems

Cited by 405 publications

References 33 publications

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Robot Simulation for Control Design

A Kinematic Approach to Determining the Optimal Actuator Sensor Architecture for Space Robots

Contact Info

Product

Resources

About