Verification for space robotics

2021 ◽  
pp. 377-408
Keyword(s):  
Space Robotics

Space Robotics. Part 1

2018 ◽  
Vol 6 (4) ◽  
pp. 5-13 ◽  
Author(s):  
Boris Spassky
Keyword(s):  
Space Robotics

ROKVISS - Space Robotics Dynamics and Control Performance Experiments at the ISS

2004 ◽  
Vol 37 (6) ◽  
pp. 333-338
Author(s):  
Bernd Schäfer ◽  
Bernhard Rebele ◽  
Klaus Landzettel
Keyword(s):  
Space Robotics ◽  
Control Performance ◽  
Dynamics And Control ◽  
And Control

scholarly journals Finite-Horizon Kinetic Energy Optimization of a Redundant Space Manipulator

2021 ◽  
Vol 11 (5) ◽  
pp. 2346
Author(s):  
Alessandro Tringali ◽  
Silvio Cocuzza
Keyword(s):  
Kinetic Energy ◽  
Real Time ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Computational Time ◽  
Redundant Manipulators ◽  
Space Robotics ◽  
Optimal Method ◽  
End Effector ◽  
Global Optimal

The minimization of energy consumption is of the utmost importance in space robotics. For redundant manipulators tracking a desired end-effector trajectory, most of the proposed solutions are based on locally optimal inverse kinematics methods. On the one hand, these methods are suitable for real-time implementation; nevertheless, on the other hand, they often provide solutions quite far from the globally optimal one and, moreover, are prone to singularities. In this paper, a novel inverse kinematics method for redundant manipulators is presented, which overcomes the above mentioned issues and is suitable for real-time implementation. The proposed method is based on the optimization of the kinetic energy integral on a limited subset of future end-effector path points, making the manipulator joints to move in the direction of minimum kinetic energy. The proposed method is tested by simulation of a three degrees of freedom (DOF) planar manipulator in a number of test cases, and its performance is compared to the classical pseudoinverse solution and to a global optimal method. The proposed method outperforms the pseudoinverse-based one and proves to be able to avoid singularities. Furthermore, it provides a solution very close to the global optimal one with a much lower computational time, which is compatible for real-time implementation.

Modularity for the future in space robotics: A review

2021 ◽  
Vol 189 ◽  
pp. 530-547
Author(s):  
Mark A. Post ◽  
Xiu-Tian Yan ◽  
Pierre Letier
Keyword(s):  
Space Robotics ◽  
The Future

Space Robotics: An Overview of Challenges, Applications and Technologies

2014 ◽  
Vol 28 (2) ◽  
pp. 71-76 ◽  
Author(s):  
Jakob Schwendner ◽  
Frank Kirchner
Keyword(s):  
Space Robotics

Recent research and development activities on space robotics and AI

2021 ◽  
pp. 1-21
Author(s):  
Richard Doyle ◽  
Takashi Kubota ◽  
Martin Picard ◽  
Bernd Sommer ◽  
Hiroshi Ueno ◽  
...  
Keyword(s):  
Research And Development ◽  
Space Robotics
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