Lagrangian Jacobian motion planning with application to a free-floating space manipulator

AbstractThis paper addresses the motion planning problem of nonholonomic robotic systems. The system’s kinematics are described by a driftless control system with output. It is assumed that the control functions are represented in a parametric form, as truncated orthogonal series. A new motion planning algorithm is proposed based on the solution of a Lagrange-type optimisation problem stated in the linear approximation of the parametrised system. Performance of the algorithm is illustrated by numeric computations for a motion planning problem of the rolling ball.

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State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload

The Open Mechanical Engineering Journal ◽

10.2174/1874155x0150901851 ◽

2015 ◽

Vol 9 (1) ◽

pp. 851-858 ◽

Cited By ~ 2

Author(s):

Qingxuan Jia ◽

Yong Liu ◽

Gang Chen ◽

Hanxu Sun

Keyword(s):

Motion Planning ◽

Riccati Equation ◽

Performance Indicator ◽

Tracking Error ◽

Tracking Accuracy ◽

Space Manipulator ◽

Joint Torques ◽

Control Approach ◽

State Dependent ◽

Planning Algorithm

In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator’s load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. The integrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector, joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependent Riccati equation (SDRE) is established and solved by Taylor series approximation method. The motion planning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulator and the results are discussed to illustrate the effectiveness of the proposed approach.

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Robotic Manipulation and Capture in Space: A Survey

Frontiers in Robotics and AI ◽

10.3389/frobt.2021.686723 ◽

2021 ◽

Vol 8 ◽

Author(s):

Evangelos Papadopoulos ◽

Farhad Aghili ◽

Ou Ma ◽

Roberto Lampariello

Keyword(s):

Motion Planning ◽

Space Exploration ◽

Orbital Debris ◽

Contact Dynamics ◽

Robotic Manipulation ◽

Control Methods ◽

Exploration And Exploitation ◽

Space Manipulator ◽

Ground Testing ◽

System States

Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

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