Use of Dynamic Scaling for Trajectory Planning of Floating Pedestal and Manipulator System in a Microgravity Environment
- 69 Downloads
In this paper, motion planning and coordination is investigated for a space robot composed of a floating pedestal and manipulator. In some cases, such as a manipulator grasping a higher quality target, the dynamic coupling can occur leading to under-actuation of the floating pedestal (that is, the required control force of the pedestal exceeds the thrust limit). As a result, the desired operation may not be achieved due to large control error. Therefore, we propose an innovative planning method, termed dynamic scaling planning method, to avoid pedestal under-actuation and guarantee accuracy of manipulator operations. Furthermore, to validate the proposed method, an experimental model of a space robot operating in a magnetic-liquid hybrid suspension microgravity simulation environment was developed. Results of the experimental simulations demonstrate that the proposed method can effectively avoid under-actuation of the pedestal. Moreover, the end-effector of the manipulator follows a desired path to successfully reach its target location.
KeywordsMicrogravity simulation environment Dynamic scaling Floating pedestal Manipulator arm Under-actuated state
This work is funded by the National Natural Science Foundation of China (No. 11472213).
- Cristian, P.: Nonlinear Control of Underactuated Horizontal Double Pendulum [D]. Florida Atlantic University, Boca Raton (2002)Google Scholar
- Gianluca, A.: Underwater Robots Third Edition[M]. Springer International, Switzerland (2014)Google Scholar
- Liu, J.: Sliding mode variable structure control MATLAB Simulation[M], pp 1–64. Tsinghua University Press, BeiJing (2015)Google Scholar
- Papadopoulos, E., Tortopidis, I., Nanos, K.: Smooth Planning for Free-Floating Space Robots Using polynomials[C]. In: IEEE International Conference on Robotics and Automation, pp. 4272–4277, Barcelona (2005)Google Scholar
- SNAME: Nomenclature for treating the motion of a submerged body through a fluid. Technical and Research Bulletin[R], pp. 1–5 (1950)Google Scholar
- Suzuki, T., Nakamura, Y.: Planning Spiral Motion of Nonholonomic Space robots[C]. In: IEEE International Conferences on Robotics and Automation, pp. 718–725, Minneapolis (1996)Google Scholar
- Vafa, Z., Dubowsky, S.: On the dynamics of space manipulator using the virtual manipulator with application to path planning[J]. J. Astronaut. Sci. 38(3), 441–472 (1990)Google Scholar