Robust control of free-floating space robot systems

In this paper, we propose a robust control scheme for a free-floating space robot system where a robot arm is mounted on a free-floating base-a satellite, spacecraft or space station. The base is not controlled by external moments or forces. We model the system as an extended robot, including a pseu...

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Veröffentlicht in:International journal of control Jg. 61; H. 2; S. 261 - 277
Hauptverfasser: XU, YANGSHENG, GU, YOU-LIANG, WU, YU-TE, SCLABASSI, ROBERT
Format: Journal Article
Sprache:Englisch
Veröffentlicht: London Taylor & Francis Group 01.02.1995
Taylor & Francis
Schlagworte:
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Robotics
Space application
Function block diagram
Moving robot
Kinematics
Theoretical study
Controllability
Numerical simulation
Three dimensional space
Robustness
Modeling
Lyapunov equation
Robotics
ISSN:0020-7179, 1366-5820
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Abstract In this paper, we propose a robust control scheme for a free-floating space robot system where a robot arm is mounted on a free-floating base-a satellite, spacecraft or space station. The base is not controlled by external moments or forces. We model the system as an extended robot, including a pseudo-arm representing the base motion produced by six hypothetical passive joints, and a real robot arm. This model allows us to categorize the free-floating space robot system as a specific type of under-actuated system with mixed passive and active joints. We then discuss some fundamental properties of such a system. By means of an input-output linearization technique, we demonstrate that the internal dynamics of the system are nonlinear parametric and therefore, the control of the system using conventional robot control schemes is not feasible. To overcome the difficulty in controlling the internal dynamics subject to parameter uncertainty, and to avoid the measurement of the base acceleration, we develop a robust control scheme based on the second method of Lyapunov. We illustrate an example of a six-degrees-of-freedom space robot system to show the computational procedure and simulation results.
AbstractList In this paper, we propose a robust control scheme for a free-floating space robot system where a robot arm is mounted on a free-floating base-a satellite, spacecraft or space station. The base is not controlled by external moments or forces. We model the system as an extended robot, including a pseudo-arm representing the base motion produced by six hypothetical passive joints, and a real robot arm. This model allows us to categorize the free-floating space robot system as a specific type of under-actuated system with mixed passive and active joints. We then discuss some fundamental properties of such a system. By means of an input-output linearization technique, we demonstrate that the internal dynamics of the system are nonlinear parametric and therefore, the control of the system using conventional robot control schemes is not feasible. To overcome the difficulty in controlling the internal dynamics subject to parameter uncertainty, and to avoid the measurement of the base acceleration, we develop a robust control scheme based on the second method of Lyapunov. We illustrate an example of a six-degrees-of-freedom space robot system to show the computational procedure and simulation results.
Author WU, YU-TE
SCLABASSI, ROBERT
XU, YANGSHENG
GU, YOU-LIANG
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  fullname: XU, YANGSHENG
  organization: The Robotics Institute , Carnegie Mellon University
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  givenname: YOU-LIANG
  surname: GU
  fullname: GU, YOU-LIANG
  organization: Department of Electrical and Systems Engineering , Oakland University
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  fullname: WU, YU-TE
  organization: Department of Electrical Engineering , University of Pittsburgh
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  givenname: ROBERT
  surname: SCLABASSI
  fullname: SCLABASSI, ROBERT
  organization: Department of Neurological Surgery, Electrical Engineering and Mechanical Engineering , University of Pittsburgh
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Cites_doi 10.1109/87.317978
10.1002/rob.4620110702
10.1109/ROBOT.1993.291872
10.1017/CBO9780511810817
10.1115/1.3139661
10.1007/978-3-662-02581-9
10.1007/978-1-4615-3588-1
10.1109/7.272266
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Issue 2
Keywords Space application
Function block diagram
Moving robot
Kinematics
Theoretical study
Controllability
Numerical simulation
Three dimensional space
Robustness
Modeling
Lyapunov equation
Robotics
Language English
License CC BY 4.0
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CIT0001
SPONG M. W. (CIT0008) 1989
LONGMAN R. W. (CIT0006) 1990; 38
XU Y. (CIT0010) 1994; 2
VAFA Z. (CIT0009) 1990; 38
XU Y. (CIT0013) 1994; 30
XU Y. (CIT0012) 1994; 11
CIT0003
CIT0002
CIT0005
CIT0004
XU Y. (CIT0011) 1993
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– volume-title: Robot Dynamics and Control
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  ident: CIT0008
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SubjectTerms Applied sciences
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Robotics
Title Robust control of free-floating space robot systems
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