Robust Trajectory Tracking Control of Space Manipulators in Extended Task Space (original) (raw)
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Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to the strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment will be highlighted. Basic issues on the kinematics and dynamics modelling of such systems, trajectory planning and control strategies, experimental studies, and finally cooperation of multiple arm space free-flying robots will be surveyed.
Modelling and control of space robots is not an easy task to perform, because the equations of motion that govern phenomenon are highly nonlinear. Furthermore, unlike fixed base manipulators a freefloating space robot exhibits non-holonomic behavior as a result of the non-integrability of the angular momentum conservation law. In recent days space robots are extensively used to play a significant role in space applications like, scheduled servicing of satellites and spacecrafts including refuelling tasks, inspection of remote sites or verification of structures, retrieval of tumbling tools or astronauts, and assembly or welding of space structures. In a large number of these applications, the manipulator endeffector is required to interact with the environment. Due to the interaction between the endeffector and the environment, the interaction torques act on the endeffector which gets transmitted through links to the base of the vehicle and the orientation of the vehicle changes. Hence, precise control of the manipulator's trajectory, attitude and impedance are critically important. This paper addressed the current state-oftheart in key areas of the space robotics by reviewing recently available literatures particularly on free flying and free floating space robots which help in summarizing various research outcomes in a structured manner.
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Modelling and control of space robots is not an easy task to perform, because the equations of motion that govern phenomenon are highly nonlinear. Furthermore, unlike fixed base manipulators a freefloating space robot exhibits non-holonomic behavior as a result of the non-integrability of the angular momentum conservation law. In recent days space robots are extensively used to play a significant role in space applications like, scheduled servicing of satellites and spacecrafts including refuelling tasks, inspection of remote sites or verification of structures, retrieval of tumbling tools or astronauts, and assembly or welding of space structures. In a large number of these applications, the manipulator endeffector is required to interact with the environment. Due to the interaction between the endeffector and the environment, the interaction torques act on the endeffector which gets transmitted through links to the base of the vehicle and the orientation of the vehicle changes. He...
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Abstract Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems.