Zero reaction maneuver: flight validation with ETS-VII space robot and extension to kinematically redundant arm

Yoshida, Kazuya; Hashizume, Kenichi; Abiko, Satoko

doi:10.1109/robot.2001.932590

Cited by 113 publications

(72 citation statements)

References 3 publications

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“…For example, the manipulator's kinematic redundancy creates a null-space that can be exploited to re-configure the manipulator without affecting the end-effector position with respect to the base. This can be used to eliminate the base reaction, as used in the Zero-Reaction-Maneuver approach [42], or, in general, to minimize any other cost function [43].…”

Section: Resolved-motion-rate Controlmentioning

confidence: 99%

Laboratory experiments of resident space object capture by a spacecraft–manipulator system

Virgili-Llop

Drew

Zappulla

et al. 2017

Aerospace Science and Technology

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Section: Resolved-motion-rate Controlmentioning

confidence: 99%

Laboratory experiments of resident space object capture by a spacecraft–manipulator system

Virgili-Llop

Drew

Zappulla

et al. 2017

Aerospace Science and Technology

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“…The formulas (6) and (7) are plugged into the formulas (10)- (12). As shown in the following formula:…”

Section: Constraint Conditions and Parameters Of The Jointmentioning

confidence: 99%

“…The path planning of space robot can be optimized by this method, and thus the disturbance of base is reduced, but it is only efficient for the two degrees of freedom space robot; in other words, it is cannot be widely applied in the multidimensional space robot. In 2001, an idea of zero reaction manoeuvre (ZRM) was put forward by Yoshida et al [6], which was based on the generalized Jacobi matrix. With the undisturbance of base, it can be used for the path planning of space robot.…”

Section: Introductionmentioning

confidence: 99%

Optimal Path Planning for Minimizing Base Disturbance of Space Robot

Wei

Zhang

Zhou

et al. 2016

International Journal of Advanced Robotic Systems

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The path planning of free-floating space robot in space onorbit service has been paid more and more attention. The problem is more complicated because of the interaction between the space robot and base. Therefore, it is necessary to minimize the base position and attitude disturbance to improve the path planning of free-floating space robot, reducing the fuel consumption for the position and attitude maintenance. In this paper, a reasonable path planning method to solve the problem is presented, which is feasible and relatively simple. First, the kinematic model of 6 degrees of freedom free-floating space robot is established. And then the joint angles are parameterized using the 7th order polynomial sine functions. The fitness function is defined according to the position and attitude of minimizing base disturbance and constraints of space robot. Furthermore, an improved chaotic particle swarm optimization (ICPSO) is presented. The proposed algorithm is compared with the standard PSO and CPSO algorithm in the literature by the experimental simulation. The simulation results demonstrate that the proposed algorithm is more effective than the two other approaches, such as easy to find the optimal solution, and this method could provide a satisfactory path for the free-floating space robot.

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“…They call the approximated trajectory Spiral Motion. With the objective of reducing the disturbances on the base, Yoshida et al proposed the Zero Reaction Maneuver (ZRM) in [96]. The ZRM is obtained by making zero angular velocity of the base in the angular momentum equation.…”

Section: A1 Non-holonomic Path Planningmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Zero reaction maneuver: flight validation with ETS-VII space robot and extension to kinematically redundant arm

Cited by 113 publications

References 3 publications

Laboratory experiments of resident space object capture by a spacecraft–manipulator system

Laboratory experiments of resident space object capture by a spacecraft–manipulator system

Optimal Path Planning for Minimizing Base Disturbance of Space Robot

A Review of Robotics Technologies for On-Orbit Services

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