Trajectory Planning for a Dual-Arm Planar Free-Floating Manipulator using RRTControl

Serrantola, Wenderson Gustavo; Grassi, Valdir

doi:10.1109/icar46387.2019.8981596

Cited by 7 publications

(2 citation statements)

References 9 publications

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“…[39], the bidirectional rapidly exploring random trees (BiRRT) algorithm was applied for a non-redundant planar manipulator mounted on the satellite to plan a collision-free trajectory that allows to obtain the desired position of the manipulator tip and the desired orientation of the satellite. Trajectory planning based on the RRT algorithm was also proposed for systems composed of two manipulators mounted on a single servicing satellite [40,41]. As explained in ref.…”

Section: Introductionmentioning

confidence: 99%

Application of bidirectional rapidly exploring random trees (BiRRT) algorithm for collision-free trajectory planning of free-floating space manipulator

et al. 2022

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On-orbit servicing and active debris removal missions will rely on the use of unmanned satellite equipped with a manipulator. Capture of the target object will be the most challenging phase of these missions. During the capture manoeuvre, the manipulator must avoid collisions with elements of the target object (e.g., solar panels). The dynamic equations of the satellite-manipulator system must be used during the trajectory planning because the motion of the manipulator influences the position and orientation of the satellite. In this paper, we propose application of the bidirectional rapidly exploring random trees (BiRRT) algorithm for planning a collision-free trajectory of a manipulator mounted on a free-floating satellite. A new approach based on pseudo-velocities method (PVM) is used for construction of nodes of the trajectory tree. Initial nodes of the second tree are selected from the set of potential final configurations of the system. The proposed method is validated in numerical simulations performed for a planar case (3-DoF manipulator). The obtained results are compared with the results obtained with two other trajectory planning methods based on the RRT algorithm. It is shown that in a simple test scenario, the proposed BiRRT PVM algorithm results in a lower manipulator tip position error. In a more difficult test scenario, only the proposed method was able to find a solution. Practical applicability of the BiRRT PVM method is demonstrated in experiments performed on a planar air-bearing microgravity simulator where the trajectory is realised by a manipulator mounted on a mock-up of the free-floating servicing satellite.

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Section: Introductionmentioning

confidence: 99%

Application of bidirectional rapidly exploring random trees (BiRRT) algorithm for collision-free trajectory planning of free-floating space manipulator

et al. 2022

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“…Zhang [15] Han [16] and Wang [17] presented a new trajectory planning methodology for manipulators respectively. Serrantola [18] and Khan [19] proposed a new algorithm to plan the manipulator's trajectory, respectively. Qiu [20] proposed a non-contact vibration measurement method based on structural light sensor.…”

Section: Introductionmentioning

confidence: 99%

Vibration characteristics of flexible manipulator based on EVO trajectory effect by the constraints and parameters variation

Zhang¹,

Sun²,

Fu³

et al. 2022

J. vibroeng.

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This paper studies the vibration control effect for manipulators with both flexible link and flexible joint according to the energy-vibration-optimal (EVO) trajectory planning method effect by the constraint conditions and structure parameters. First, a dynamic model of the flexible joint-flexible link arm is established following the assumed modal method and Lagrange principle. The optimization model is then proposed and discretized using the Particle Swarm Optimization (PSO) trajectory planning method and the trajectory optimization of discrete result algorithm, taking into account both residual oscillation and energy consumption. Following that, the numerical trajectory optimization results and their vibration suppression effect analysis by different constraint conditions, such as driving constraints, time constraints, and joint stiffness, are compared and discussed. The results show that the optimization velocity trajectory tends to a S-shaped trajectory and a convex trajectory respectively with the increase of driving velocity constraint and acceleration constraint respectively, while the sufficient planning time can make the less energy consumption. The parameter variations of length, cross-sectional area and next link lumped mass of have a significant impact on the residual oscillation of the flexible arm, with length having the most influence, whereas joint stiffness has little influence on the residual oscillation of the flexible link. The processing accuracy of length, cross-sectional area and end quality parameters must be ensured, while joint stiffness accuracy requirements can be slightly relaxed during the actual processing. Finally, experiments show that the optimization method is effective at vibration suppression. While the small variations of the end mass have significant influence on the vibration suppression effect, the residual vibrations of the parameter variation ones are all larger than the original parameter one. Meanwhile, as the mass of the manipulator increases, so does its energy consumption.

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Review on key technologies of space intelligent grasping robot

Yang

Chang

2022

J Braz. Soc. Mech. Sci. Eng.

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Trajectory Planning for a Dual-Arm Planar Free-Floating Manipulator using RRTControl

Cited by 7 publications

References 9 publications

Application of bidirectional rapidly exploring random trees (BiRRT) algorithm for collision-free trajectory planning of free-floating space manipulator

Application of bidirectional rapidly exploring random trees (BiRRT) algorithm for collision-free trajectory planning of free-floating space manipulator

Vibration characteristics of flexible manipulator based on EVO trajectory effect by the constraints and parameters variation

Review on key technologies of space intelligent grasping robot

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