Hostname: page-component-586b7cd67f-rcrh6 Total loading time: 0 Render date: 2024-11-25T19:19:19.451Z Has data issue: false hasContentIssue false
  • English
  • Français

Minimum Base Disturbance Control of Free-Floating Space Robot during Visual Servoing Pre-capturing Process

Published online by Cambridge University Press:  12 July 2019

Xiaoyu Zhao ,
Zongwu Xie ,
Haitao Yang  and
Jiarui Liu
Xiaoyu Zhao
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Zongwu Xie*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Haitao Yang
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Jiarui Liu
Affiliation:
Vanke Meisha Academy, Shenzhen, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

During visual servoing space activities, the attitude of free-floating space robot may be disturbed due to dynamics coupling between the satellite base and the manipulator. And the disturbance may cause communication interruption between space robot and control center on earth. However, it often happens that the redundancy of manipulator is not enough to fully eliminate this disturbance. In this paper, a method named off-line optimizing visual servoing algorithm is innovatively proposed to minimize the base disturbance during the visual servoing process where the degrees-of-freedom of the manipulator is not enough for a zero-reaction control. Based on the characteristic of visual servoing process and the robot system modeling, the optimal control method is applied to achieve the optimization, and a pose planning method is presented to achieve a second-order continuity of quaternion getting rid of the interruption caused by ambiguity. Then simulations are carried out to verify the method, and the results show that the robot is controlled with optimized results during visual servoing process and the joint trajectories are smooth.

Keywords

Free-floating space robotDual-arm capturingMinimum base disturbanceVisual servoingOptimal control
Type
Articles
Information
Robotica , Volume 38 , Issue 4 , April 2020 , pp. 652 - 668
Copyright
© Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Xu, W., Meng, D., Liu, H., Wang, X. and Liang, B., “Singularity-free trajectory planning of free-floating multiarm space robots for keeping the base inertially stabilized,” IEEE Trans. Syst. Man Cybernet.: Syst. (99), 1–14 (2017).Google Scholar
Xu, W., Liang, B. and Xu, Y., “Survey of modeling, planning, and ground verification of space robotic systems,” Acta Astron. 68(11–12), 1629–1649 (2011).CrossRefGoogle Scholar
Xu, W., Peng, J., Liu, H., Liang, B. and Mu, Z., “Hybrid modeling and analysis method for dynamic coupling of space robots,” IEEE Trans. Aerosp. Electron. Syst. 52(1), 85–98 (2016).CrossRefGoogle Scholar
Papadopoulos, E. and Abu-Abed, A., “On the design of zero reactionmanipulators,” J. Mech. Design. 118(3), 372–376 (1996).CrossRefGoogle Scholar
Nguyen-Huynh, T. C. and Sharf, I., “Adaptive Reactionless Motion for Space Manipulator When Capturing an Unknown Tumbling Target,” Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China (2011) pp. 4202–4207.Google Scholar
Dubowsky, S. and Torres, M. A., “Path Planning for Space Manipulators to Minimize Spacecraft Attitude Disturbances,” Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, California, USA (1991) pp. 2522–2528.Google Scholar
Torres, M. A. and Dubowsky, S., “Minimizing spacecraft attitude disturbances in space manipulator systems,” J. Guid. Control Dyn. 15(4), 1010–1017 (1992).CrossRefGoogle Scholar
James, F., Shah, S. V., Singh, A. K., Krishna, K. M. and Misra, A. K., “Reactionless maneuvering of a space robot in precapture phase,” J. Guid. Control Dyn. 39(10), 2419–2425 (2016).CrossRefGoogle Scholar
Gouo, A., Nenchev, D. N., Yoshida, K. and Uchiyama, M., “Motion control of dual-arm long-reach manipulators,” Adv. Robot. 13(6), 617–631 (1998).CrossRefGoogle Scholar
Shah, S. V., Sharf, I. and Misra, A., “Reactionless Path Planning Strategies for Capture of Tumbling Objects in Space Using a Dual-arm Robotic System,” AIAA Guidance, Navigation, and Control (GNC) Conference, Boston, Massachusetts, USA (2013) p. 4521.Google Scholar
Hishinuma, T. and Nenchev, D. N., “Singularity-consistent Vibration Suppression Control with a Redundant Manipulator Mounted on a Flexible Base,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China (2006) pp. 3237–3242.CrossRefGoogle Scholar
Yoshida, K., Hashizume, K. and Abiko, S., “Zero Reaction Maneuver: Flight Validation with ETS-VII Space Robot and Extension to Kinematically Redundant Arm,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea (2001) pp. 441–446.Google Scholar
Cocuzza, S., Pretto, I. and Debei, S., “Reaction torque control of redundant space robotic systems for orbital maintenance and simulated microgravity tests,” Acta Astron. 67(3–4), 285–295 (2010).CrossRefGoogle Scholar
Abdul Hafez, A. H., Mithun, P., Anurag, V. V., Shah, S. V. and Krishna, K. M., “Reactionless visual servoing of a multi-arm space robot combined with other manipulation tasks,” Robot. Auton. Syst. 91, 1–10 (2017).CrossRefGoogle Scholar
Cocuzza, S., Pretto, I. and Debei, S., “Least-squares-based reaction control of space manipulators,” J. Guid. Control Dyn. 35(3), 976–986 (2012).Google Scholar
Allen, A. C. M., Langley, C., Mukherji, R., Taylor, A. B., Umasuthan, M. and Barfoot, T. D., “Rendezvous Lidar Sensor System for Terminal Rendezvous, Capture, and Berthing to the International Space Station,” Proceedings of SPIE 6958, Sensors and Systems for Space Applications II, Orlando, Florida, USA (2008).Google Scholar
Motaghedi, P., “On-orbit Performance of the Orbital Express Capture System,” Proceedings of SPIE 6958, Sensors and Systems for Space Applications II, Orlando, Florida, USA (2008).Google Scholar
Yoshida, K., Hashizume, K., Nenchev, D., Inaba, N. and Oda, M., “Control of a Space Manipulator for Autonomous Target Capture-ETS-VII Flight Experiments and Analysis,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Denver, Colorado, USA (2000) p. 4376.Google Scholar
Dapeng, H., Xiao, F. and Qing, W., “Rotation Interpolation Based on the Geometric Structure of Unit Quaternions,” IEEE International Conference on Industrial Technology, Chengdu, China (2008) pp. 1–6.Google Scholar
Siciliano, B., Sciavicco, L., Villani, L. and Oriolo, G., “Robotics: Modelling, Planning and Control,” Adv. Textbooks Control Sig. Process. 4(12), 76–82 (2009).Google Scholar
Chaumette, F. and Hutchinson, S., “Visual servo control. I. Basic approaches,” IEEE Robot. Autom. Mag. 13(4), 82–90 (2006).CrossRefGoogle Scholar
Corke, P., “Robotics, Vision and Control: Fundamental Algorithms,” In: MATLAB® Second, Completely Revised, vol. 118 (Springer, Berlin Heidelberg, 2017).Google Scholar
Chesi, G. and Hashimoto, K., Visual Servoing via Advanced Numerical Methods, vol. 401 (Springer, Berlin Heidelberg, 2010).CrossRefGoogle Scholar
Solà, J., “Quaternion kinematics for the error-state Kalman filter,” CoRR, abs/1711.02508 (2017).Google Scholar
Myoung-Jun, K., Myung-Soo, K. and Sung Yong, S., “A C2-continuous B-spline Quaternion Curve Interpolating a Given Sequence of Solid Orientations,” Proceedings of Computer Animation, Geneva, Switzerland (1995) pp. 72–81.CrossRefGoogle Scholar
Kim, M.-J., Kim, M.-S. and Shin, S. Y., “A General Construction Scheme for Unit Quaternion Curves with Simple High Order Derivatives,” Proceedings of the 22nd Annual Conference on Computer Graphics and Interactive Techniques, Los Angeles, California, USA (1995) pp. 369–376.Google Scholar
Gupta, S. and Luh, J. Y. S., “Closed-loop Control of Manipulators with Redundant Joints Using the Hamilton-Jacobi-Bellman Equation,” IEEE International Conference on Proceedings of Robotics and Automation, Sacramento, California, USA (1991) pp. 472–477.Google Scholar
Natale, C., Interaction Control of Robot Manipulators: Six Degrees-of-Freedom Tasks, vol. 3 (Springer Science and Business Media, Berlin Heidelberg, 2003).Google Scholar
Mithun, P., Anurag, V. V., Bhardwaj, M. and Shah, S. V., “Real-time Dynamic Singularity Avoidance While Visual Servoing of a Dual-arm Space Robot,” Proceedings of the Conference on Advances in Robotics, Goa, India (2015), p. 31.Google Scholar
Kirk, D. E., Optimal Control Theory: An Introduction (Dover Publications, Mineola, New York, 2012).Google Scholar