Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays...

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Vydáno v:	Acta astronautica Ročník 141; s. 98 - 109
Hlavní autoři:	Wang, Mingming, Luo, Jianjun, Yuan, Jianping, Walter, Ulrich
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Elmsford Elsevier Ltd 01.12.2017 Elsevier BV
Témata:	Adaptive algorithms Angular velocity Computer simulation Control systems design Coordination control Degrees of freedom Detumbling strategy Evolution Evolutionary algorithms Grasping (robotics) Kinematics Manipulators Motion planning Post-grasping Redundancy Satellites Space exploration Space robots Strategy Studies Coordination control Post-grasping Detumbling strategy
ISSN:	0094-5765, 1879-2030
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Abstract	The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method. •Dynamic equations of space robot in post-capture phase were derived.•Quartic Bezier curves were used to delineate the target's detumbling path.•Adaptive differential evolution algorithm was used for building detumbling path.•A coordination control scheme was implemented both for base and end-effector.
AbstractList	The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method. The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method. •Dynamic equations of space robot in post-capture phase were derived.•Quartic Bezier curves were used to delineate the target's detumbling path.•Adaptive differential evolution algorithm was used for building detumbling path.•A coordination control scheme was implemented both for base and end-effector.
Author	Luo, Jianjun Wang, Mingming Yuan, Jianping Walter, Ulrich
Author_xml	– sequence: 1 givenname: Mingming surname: Wang fullname: Wang, Mingming email: mwang@nwpu.edu.cn organization: Science and Technology on Aerospace Flight Dynamics Laboratory, Northwestern Polytechnical University, 710072, Xi'an, China – sequence: 2 givenname: Jianjun surname: Luo fullname: Luo, Jianjun email: jjluo@nwpu.edu.cn organization: Science and Technology on Aerospace Flight Dynamics Laboratory, Northwestern Polytechnical University, 710072, Xi'an, China – sequence: 3 givenname: Jianping surname: Yuan fullname: Yuan, Jianping email: jyuan@nwpu.edu.cn organization: Science and Technology on Aerospace Flight Dynamics Laboratory, Northwestern Polytechnical University, 710072, Xi'an, China – sequence: 4 givenname: Ulrich surname: Walter fullname: Walter, Ulrich email: walter@tum.de organization: Institute of Astronautics, Technical University of Munich, 85748, Garching, Germany
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Cites_doi	10.1016/j.asr.2015.06.012 10.1109/70.585902 10.1109/TEVC.2009.2014613 10.2514/2.4491 10.1109/TAES.2015.140343 10.1109/70.768186 10.1016/j.actaastro.2015.03.008 10.1007/s11071-016-3245-8 10.1163/156855308X392708 10.1007/s10846-016-0417-1 10.2514/1.G001219 10.1016/j.asoc.2017.03.032 10.1016/j.actaastro.2017.01.041 10.1002/rob.20194 10.1109/TRO.2011.2179581 10.1023/A:1008202821328 10.1016/j.swevo.2016.05.003 10.2514/1.G000003 10.1007/s11071-016-2641-4
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Snippet	The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator...
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SubjectTerms	Adaptive algorithms Angular velocity Computer simulation Control systems design Coordination control Degrees of freedom Detumbling strategy Evolution Evolutionary algorithms Grasping (robotics) Kinematics Manipulators Motion planning Post-grasping Redundancy Satellites Space exploration Space robots Strategy Studies
Title	Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite
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