Robust Control of Dual-Arm Space Robot Systems with Two Objects in Inertial Space

2006 ◽  
Author(s):  
Yishen Guo ◽  
Li Chen
Keyword(s):  
Robust Control ◽  
Space Robot ◽  
Inertial Space ◽  
Robot Systems ◽  
Dual Arm

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.

Self-Learning Control of Free-Floating Dual-Arm Space Robot Based on Fuzzy Adaptive Compensator

2009 ◽  
Author(s):  
Liang Jie ◽  
Chen Li
Keyword(s):  
Space Robot ◽  
Robot System ◽  
Loop Control ◽  
Inertial Space ◽  
Floating Base ◽  
Control Scheme ◽  
Adaptive Compensator ◽  
Dual Arm ◽  
Computed Torque ◽  
Fuzzy Adaptive

This paper discusses control problem of free-floating dual-arm space robot system with unknown payload parameters to track desired trajectory in inertial space, when the attitude of base is controlled and its location is uncontrolled. Combining the relationship of the linear momentum conversation and the Lagrange approach, the full-controlled dynamic equation and the Jacobian relation of free-floating dual-arm space robot are analysed and established. Based on the above results, for the case of free-floating dual-arm space robot system with unknown payload parameters, a composite control scheme is designed on the base of a computed torque controller and a fuzzy compensator to track desired trajectories in inertial space, i.e., balancing the effect of system unknown payload parameters on computed torque controller with fuzzy adaptive compensator, in order to ensure the whole closed-loop control system asymptotic stability with the existence of unknown payload parameters. The mentioned control scheme can effectively overcome the effect of system unknown payload parameters and control both the base attitude and the end-effector of dual-arm space robot, so that they can track the desired trajectory in inertia space, with obvious advantages neither the mentioned control scheme needs to measure and feedback the position, velocity and acceleration of the floating base, nor the mentioned control scheme needs to requirements for the dynamic equations of the system inertial parameters in linear function. A two planar dual-arm space robot system is simulated to verify the effectiveness of the proposed control scheme.

Coordinated robust control based on extended state observer of dual-arm space robot with closed chain for transferring a target

2017 ◽  
Vol 232 (13) ◽  
pp. 2489-2498
Author(s):  
Jing Cheng ◽  
Li Chen
Keyword(s):  
Robust Control ◽  
State Observer ◽  
Extended State Observer ◽  
Space Robot ◽  
Dynamic Equations ◽  
Extended State ◽  
Constraint Equations ◽  
Closed Chain ◽  
Pseudo Inverse ◽  
Dual Arm

The coordinated control problem of free-floating dual-arm space robot with closed chain is discussed. First, dynamic equations of the open-chain space robot system with virtual cut-off point are obtained by Lagrangian equation; the constraint equations of closed loop are derived by the kinematics analysis. The dynamic equations without redundant degree of freedom of dual-arm space robot with closed chain are established by the constraint equations and the theory of pseudo-inverse. Second, in order to achieve excellent tracking performance, the robust control based on extended state observer is proposed for the closed-chain system with uncertain inertial parameters. The unknown part of the closed-chain system is compensated by an extended state observer. The global uniform ultimate boundedness stability with exponential convergence is proven by the Lyapunov’s theory. For the existence of the controller redundancy, based on the weighted minimum-norm theory and pseudo-inverse theory, the joint inputs are distributed for each joint to guarantee the uniqueness of joints trajectory. At last, the numerical simulation is conducted to verify the effectiveness of the proposed control scheme.

Robust control of free-floating space robot systems

1995 ◽  
Vol 61 (2) ◽  
pp. 261-277 ◽  
Author(s):  
YANGSHENG XU ◽  
YOU-LIANG GU ◽  
YU-TE WU ◽  
ROBERT SCLABASSI
Keyword(s):  
Robust Control ◽  
Space Robot ◽  
Robot Systems
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