Singularity robust path planning for real time base attitude adjustment of free-floating space robot
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Automation and Computing"
DOI: 10.1007/s11633-017-1055-1
Abstract: This paper presents a singularity robust path planning for space manipulator to achieve base (satellite) attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional… read more here.
Keywords: space; base attitude; space robot; singularity ... See more keywords
Robust coordinated control of a dual-arm space robot
Sign Up to like & getrecommendations! Published in 2017 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2017.06.009
Abstract: Abstract Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the… read more here.
Keywords: system; space; space robot; dual arm ... See more keywords
Contact dynamics and control of a space robot capturing a tumbling object
Sign Up to like & getrecommendations! Published in 2018 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2018.06.052
Abstract: Abstract Capture of a free-floating space object in orbit is a challenging task especially when the object is tumbling. In this paper, the contact dynamics modeling and control problem for capturing a fast tumbling target… read more here.
Keywords: space; control; space robot; contact dynamics ... See more keywords
Multi-objective configuration optimization for coordinated capture of dual-arm space robot
Sign Up to like & getrecommendations! Published in 2020 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2019.11.002
Abstract: Abstract Dual-arm space robot is a promising autonomous system to remove the increasing space debris actively. Due to its limited on-orbit energy, dual-arm space robot should approach and capture the target with minimum time and… read more here.
Keywords: space; space robot; optimization; dual arm ... See more keywords
Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space
Sign Up to like & getrecommendations! Published in 2020 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2020.02.028
Abstract: Abstract The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D… read more here.
Keywords: space robot; arm space; space; dual arm ... See more keywords
Detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target
Sign Up to like & getrecommendations! Published in 2020 at "Chinese Journal of Aeronautics"
DOI: 10.1016/j.cja.2019.04.019
Abstract: Abstract The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target. Therefore, it is necessary to reduce the target’s rotation to a rate at which capture… read more here.
Keywords: control; dual arm; strategy; target ... See more keywords
Collision-Free Trajectory Planning for a 6-DoF Free-Floating Space Robot via Hierarchical Decoupling Optimization
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3152698
Abstract: Collision-free trajectory planning is a critical technique for space robot mission. In this letter, we developed a model-free Hierarchical Decoupling Optimization (HDO) algorithm to realize 6D-pose multi-target trajectory planning for the free-floating space robot. In… read more here.
Keywords: trajectory planning; space; collision free; space robot ... See more keywords
Learning-Based Sliding-Mode Control for Underactuated Deployment of Tethered Space Robot With Limited Input
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Aerospace and Electronic Systems"
DOI: 10.1109/taes.2021.3126569
Abstract: This article proposes a learning-based adaptive sliding-mode control for the underactuted deployment of tethered space robot with limited input. The reduced-order system on the sliding surface is optimized by the critic neural network-based nearly optimal… read more here.
Keywords: limited input; space robot; tethered space; deployment tethered ... See more keywords
PSO-Based Time Optimal Rapid Orientation for Micronano Space Robot
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Aerospace and Electronic Systems"
DOI: 10.1109/taes.2022.3207124
Abstract: Simultaneous multidirectional orientation tasks on space robots exhibit strong dynamic coupling between the manipulators and the base-spacecraft, and this phenomenon is more obvious in the micronano space robot. Regarding to the highly coupled dynamic system… read more here.
Keywords: orientation; micronano space; space robot; space ... See more keywords
FSTSMC Compliance Control for Dual-Arm Space Robot with SDBD Capture Satellite Operation
Sign Up to like & getrecommendations! Published in 2023 at "Journal of Computational and Nonlinear Dynamics"
DOI: 10.1115/1.4062268
Abstract: A space robot inevitably impacts a satellite in a capture operation. If its fragile joints are not protected, they may be damaged, resulting in failure of the capture operation. Thus, a spring damper buffer device… read more here.
Keywords: system; compliance; control; space robot ... See more keywords
Trajectory Planning Based on Screw Theory with Consideration of the Optimal Berth Position for a Space Robot
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Aerospace Engineering"
DOI: 10.1155/2019/1034705
Abstract: Trajectory planning is a prerequisite for the tracking control of a free-floating space robot. There are usually multiple planning objectives, such as the pose of the end-effector and the base attitude. In efforts to achieve… read more here.
Keywords: space robot; berth position; position; trajectory planning ... See more keywords