Nonlinear control for the nonholonomic motion of space robot systems

2006 ◽  
pp. 83-105 ◽  
Author(s):  
Yoshihiko Nakamura ◽  
Ranjan Mukherjee
Keyword(s):  
Nonlinear Control ◽  
Space Robot ◽  
Robot Systems

Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilities

2000 ◽  
Vol 12 (5) ◽  
pp. 585-592
Author(s):  
Jun Kobayashi ◽  
◽  
Ryozo Katoh ◽  
Fujio Ohkawa
Keyword(s):  
Space Robot ◽  
Robot System ◽  
Robot Systems ◽  
Manipulability Measure

This paper deals with two cooperative and one non-cooperative space robot systems, and formulates the differential kinematic equations for the systems. Their working abilities are evaluated based on a workspace and a manipulability measure, and the results show that the working abilities of the cooperative space robot systems are superior to those of the non-cooperative space robot system. Consequently, it is verified that the cooperative space robot systems are effective.

scholarly journals Leaderless Maneuver Guidance and Event-Triggered Formation Control for Distributed Multi-Space-Robot Systems

2021 ◽  
Author(s):  
Xuan Wang ◽  
Xing Chu ◽  
Yunhe Meng ◽  
Guoguang wen ◽  
Qian Jiang
Keyword(s):  
Formation Control ◽  
Linear Quadratic Regulator ◽  
Space Robot ◽  
Target Point ◽  
Linear Quadratic ◽  
Guidance Control ◽  
Control Framework ◽  
Robot Systems ◽  
Event Times ◽  
Event Triggered

Abstract In this paper, the distributed displacement-based formation and leaderless maneuver guidance control problems of multi-space-robot systems are investigated by introducing event-triggered control update mechanisms. A distributed formation and leaderless maneuver guidance control framework is first constructed, which includes two parallel controllers, namely, an improved linear quadratic regulator and a distributed consensus-based formation controller. By applying this control framework, the desired formation configuration of multi-space-robot systems can be achieved and the center of leaderless formation can converge to the target point globally. Second, a pull-based event triggering mechanism is introduced to the distributed formation controller, which makes the control update independent of the events of neighboring robots, avoids unnecessary control updates, and saves the extremely limited energy of space robots. Furthermore, the potential Zeno behaviors have been excluded by proving a positive lower bound for the inter-event times. Finally, numerical simulation verifies the effectiveness of the theoretical results.

Modeling and Analysis of the Multiple Dynamic Coupling Effects of a Dual-arm Space Robotic System

Robotica ◽  
2020 ◽  
Vol 38 (11) ◽  
pp. 2060-2079
Author(s):  
Jianqing Peng ◽  
Wenfu Xu ◽  
Zhonghua Hu ◽  
Bin Liang ◽  
Aiguo Wu
Keyword(s):  
Dynamic Control ◽  
Coupling Factor ◽  
Robotic System ◽  
Space Robot ◽  
Dynamic Coupling ◽  
Coupling Effects ◽  
Modeling And Analysis ◽  
Robot Systems ◽  
Coupling Equations ◽  
Dual Arm

SUMMARYA dual-arm space robot has large potentials in on-orbit servicing. However, there exist multiple dynamic coupling effects between the two arms, each arm, and the base, bringing great challenges to the trajectory planning and dynamic control of the dual-arm space robotic system. In this paper, we propose a dynamic coupling modeling and analysis method for a dual-arm space robot. Firstly, according to the conservation principle of the linear and angular momentum, the dynamic coupling between the base and each manipulator is deduced. The dynamic coupling factor is then defined to evaluate the dynamic coupling degree. Secondly, the dynamic coupling equations between the two arms, each arm, and the base are deduced, respectively. The dynamic coupling factor is suitable not only for single-arm space robots but also for multi-arm space robot systems. Finally, the multiple coupling effects of the dual-arm space robotic system are analyzed in detail through typical cases. Simulation results verified the proposed method.

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