Singularity-free path planning of dual-arm space robot for keeping the base inertially stabilized during target capturing

2012 ◽  
Author(s):  
Wenfu Xu ◽  
Houde Liu ◽  
Yu She ◽  
Bin Liang
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Space Robot ◽  
Target Capturing ◽  
Dual Arm

The coordinated motion planning of a dual-arm space robot for target capturing

Robotica ◽  
2011 ◽  
Vol 30 (5) ◽  
pp. 755-771 ◽  
Author(s):  
Wenfu Xu ◽  
Yu Liu ◽  
Yangsheng Xu
Keyword(s):  
Center Of Mass ◽  
Momentum Conservation ◽  
Conservation Equation ◽  
Space Robot ◽  
Coordinated Motion ◽  
First Case ◽  
Solution Equation ◽  
Target Capturing ◽  
Dual Arm ◽  
Momentum Conservation Equation

SUMMARYIn this paper, autonomous motion control approaches to generate the coordinated motion of a dual-arm space robot for target capturing are presented. Two typical cases are studied: (a) The coordinated dual-arm capturing of a moving target when the base is free-floating; (b) one arm is used for target capturing, and the other for keeping the base fixed inertially. Instead of solving all the variables in a unified differential equation, the solution equation of the first case is simplified into two sub-equations and practical methods are used to solve them. Therefore, the computation loads are largely reduced, and feasible trajectories can be determined. For the second case, we propose to deal with the linear and angular momentums of the system separately. The linear momentum conservation equation is used to design the configuration and the mounted pose of a balance arm to keep the inertial position of the base's center of mass, and the angular momentum conservation equation is used to estimate the desired momentum generated by the reaction wheels for maintaining the inertial attitude of the base. Finally, two typical tasks are simulated. Simulation results verify the corresponding approaches.

scholarly journals Dual Arm Free Flying Space Robot Trajectory Planning Using Polynomial

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Rishikesh Rathee ◽  
Pushparaj Mani Pathak
Keyword(s):  
Path Planning ◽  
Equations Of Motion ◽  
Kinematic Model ◽  
Space Robot ◽  
Joint Torque ◽  
Smooth Functions ◽  
Planar System ◽  
Model Equations ◽  
Planning Methodology ◽  
Dual Arm

The paper presents path planning of dual arm free flying space robot using smooth functions of time. Kinematic and dynamic modeling of dual arm free flying space robot is presented first. Using kinematic model, the Jacobian of the system has been derived, and using dynamic model, equations of motion are derived. A path planning methodology for planar system is developed using smooth function of time such as polynomials. Due to nonholonomic behaviour of the manipulator in the zero gravity environment linear and angular momentum is conserved. The proposed method yields input trajectories that drive both the manipulator and the base to a desired configuration. Joint torque curves can be obtained by introducing this joint trajectory curves in equation of motion of the space robot.

scholarly journals Autonomous Path Planning of Dual-arm Space Robot for Capturing Moving Target

ROBOT ◽  
2012 ◽  
Vol 34 (6) ◽  
pp. 704 ◽  
Author(s):  
Wenfu XU ◽  
Houde LIU ◽  
Cheng LI ◽  
Jintao ZHANG ◽  
Bin LIANG
Keyword(s):  
Path Planning ◽  
Space Robot ◽  
Moving Target ◽  
Dual Arm

Autonomous Path Planning and Experiment Study of Free-floating Space Robot for Target Capturing

2007 ◽  
Vol 51 (3) ◽  
pp. 303-331 ◽  
Author(s):  
Wenfu Xu ◽  
Yu Liu ◽  
Bin Liang ◽  
Yangsheng Xu ◽  
Wenyi Qiang
Keyword(s):  
Path Planning ◽  
Space Robot ◽  
Experiment Study ◽  
Target Capturing

Study on Trajectory Planning of Dual-arm Space Robot Keeping the Base Stabilized

2014 ◽  
Vol 39 (1) ◽  
pp. 69-80 ◽  
Author(s):  
Wen-Fu XU ◽  
Xue-Qian WANG ◽  
Qiang XUE ◽  
Bin LIANG
Keyword(s):  
Trajectory Planning ◽  
Space Robot ◽  
Dual Arm
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