An operational space formulation for a free-flying, multi-arm space robot

2005 ◽  
pp. 448-457 ◽  
Author(s):  
Jeffrey Russakow ◽  
Stephen M. Rock ◽  
Oussama Khatib
Keyword(s):  
Space Robot ◽  
Operational Space ◽  
Space Formulation

Distributed Operational Space Formulation of Serial Manipulators

2013 ◽  
Vol 9 (2) ◽  
Author(s):  
Kishor D. Bhalerao ◽  
James Critchley ◽  
Denny Oetomo ◽  
Roy Featherstone ◽  
Oussama Khatib
Keyword(s):  
Parallel Algorithms ◽  
Time Complexity ◽  
Degrees Of Freedom ◽  
Null Space ◽  
Divide And Conquer ◽  
Serial Manipulators ◽  
Divide And Conquer Algorithm ◽  
Operational Space ◽  
Space Formulation ◽  
Space Dynamics

This paper presents a new parallel algorithm for the operational space dynamics of unconstrained serial manipulators, which outperforms contemporary sequential and parallel algorithms in the presence of two or more processors. The method employs a hybrid divide and conquer algorithm (DCA) multibody methodology which brings together the best features of the DCA and fast sequential techniques. The method achieves a logarithmic time complexity (O(log(n)) in the number of degrees of freedom (n) for computing the operational space inertia (Λe) of a serial manipulator in presence of O(n) processors. The paper also addresses the efficient sequential and parallel computation of the dynamically consistent generalized inverse (J¯e) of the task Jacobian, the associated null space projection matrix (Ne), and the joint actuator forces (τnull) which only affect the manipulator posture. The sequential algorithms for computing J¯e, Ne, and τnull are of O(n), O(n2), and O(n) computational complexity, respectively, while the corresponding parallel algorithms are of O(log(n)), O(n), and O(log(n)) time complexity in the presence of O(n) processors.

Space Robot Self-Assembling Parameter Analysis

2011 ◽  
Vol 308-310 ◽  
pp. 1975-1980
Author(s):  
Tian Xi Liu ◽  
Lei Liang ◽  
Wei Cheng ◽  
Yang Zhao
Keyword(s):  
Process Design ◽  
Space Robot ◽  
Parameter Analysis ◽  
Parameter Design ◽  
Hertz Model ◽  
Operational Space ◽  
Self Assembling ◽  
Vertical Speed ◽  
Engineering Significance ◽  
Operation Control

With the depth of space exploration and applications, the space robot self-assembling has become more and more important for space on-orbit service. Parameter analysis is an indispensable work of assembling process design. The dynamic model of the space robot with target is established firstly, then the Hertz model is introduced as the collision model between the docking link and the capturing cone, and the operational space control is applied to achieve the assembling operation control under the Cartesian space. Then the paper focuses on the discussion and analysis of the influences of the parameters such as the stiffness coefficient, friction coefficient, leading speed coefficient and vertical speed damping coefficient on the assembling characteristics. The simulation results would provide a basis for assembling control and parameter design and have an important academic value and engineering significance on space service.

Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing

2005 ◽  
Vol 19 (5) ◽  
pp. 613-634 ◽  
Author(s):  
Rodrigo S. Jamisola ◽  
Denny N. Oetomo ◽  
Marcelo H. Ang ◽  
Oussama Khatib ◽  
Tao Ming Lim ◽  
...  
Keyword(s):  
Mobile Manipulator ◽  
Compliant Motion ◽  
Operational Space ◽  
Space Formulation

Space Robot Self-Assembling Dynamics and Control

2011 ◽  
Vol 189-193 ◽  
pp. 2062-2066 ◽  
Author(s):  
Lei Liang ◽  
Tian Xi Liu ◽  
Wei Cheng ◽  
Yang Zhao
Keyword(s):  
Space Robot ◽  
Dynamic Coupling ◽  
Nonlinear Characteristics ◽  
Hertz Model ◽  
Operational Space ◽  
Self Assembling ◽  
Dynamics And Control ◽  
Engineering Significance ◽  
Operation Control ◽  
And Control

In the space robot self-assembling process, the assembling control becomes quite complicated and important for the nonlinear characteristics, which are caused by the dynamic coupling between the arm and the base, and the collision between the target and the assembling hole on the base. The dynamic model of the space robot with target is established firstly, then the Hertz model is introduced as the collision model between the docking link and the capturing cone, and the operational space control is applied to achieve the assembling operation control under the Cartesian space. Through simulating and analyzing the influence of the stiffness coefficient, the soft and hard behaviors during assembling are discovered, which would provide a basis for assembling control and parameter design. The results would have important academic value and engineering significance on space robot achieving on-orbit self-assembling.

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