Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional approach

Abstract

When free-floating space robots perform space tasks, the satellite base attitude is disturbed by the dynamic coupling. The disturbance of the base orientation may affect the communication between the space robot and the control center on earth. In this paper, the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation. A novel acceleration level state equation for the nonholonomic problem is proposed, and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base trajectories. In the method, the state equation is first proposed for dual-arm robots with and without end constraints, and the system stability is analyzed to obtain the system input. The input modification further increases the system stability and simplifies the calculation complexity. Simulations are carried out in the end, and the proposed method is validated in minimizing final base attitude change and trajectory smoothness. Moreover, the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks.

Graphical abstract

Keywords

free-floating space robot / dual arm / coordinated operation / base attitude restoration / bidirectional approach

References

[1] Abdul Hafez A H, Mithun P, Anurag V V, Shah S V, Madhava Krishna K. Reactionless visual servoing of a multi-arm space robot combined with other manipulation tasks. Robotics and Autonomous Systems, 2017, 91 : 1– 10

[2] Xu W F, Meng D S, Liu H D, Wang X Q, Liang B. Singularity-free trajectory planning of free-floating multiarm space robots for keeping the base inertially stabilized. IEEE Transactions on Systems, Man, and Cybernetics. Systems, 2019, 49( 12): 2464– 2477

[3] Naveen B, Shah S V, Misra A K. Momentum model-based minimal parameter identification of a space robot. Journal of Guidance, Control, and Dynamics, 2019, 42( 3): 508– 523

[4] MA B Y, Xie Z W, Jiang Z N, Liu H. Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization. Frontiers of Mechanical Engineering, 2021, 16( 3): 435– 450

[5] Wu Y H, Yu Z C, Li C Y, He M J, Hua B, Chen Z M. Reinforcement learning in dual-arm trajectory planning for a free-floating space robot. Aerospace Science and Technology, 2020, 98 : 105657–

[6] Zhang X, Liu J G. Effective motion planning strategy for space robot capturing targets under consideration of the berth position. Acta Astronautica, 2018, 148 : 403– 416

[7] Xu W F, Peng J Q, Liang B, Mu Z G. Hybrid modeling and analysis method for dynamic coupling of space robots. IEEE Transactions on Aerospace and Electronic Systems, 2016, 52( 1): 85– 98

[8] Papadopoulos E, Abu-Abed A. On the design of zero reaction manipulators. Journal of Mechanical Design, 1996, 118( 3): 372– 376

[9] Xu S F, Wang H L, Zhang D Z, Yang B H. Adaptive reactionless motion control for free-floating space manipulators with uncertain kinematics and dynamics. IFAC Proceedings Volumes, 2013, 46( 20): 646– 653

[10] Nguyen-Huynh T C, Sharf I. Adaptive reactionless motion and parameter identification in postcapture of space debris. Journal of Guidance, Control, and Dynamics, 2013, 36( 2): 404– 414

[11] YoshidaK, Hashizume K, AbikoS. Zero reaction maneuver: flight validation with ETS-VII space robot and extension to kinematically redundant arm. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001, 1: 441–446

[12] CocuzzaS, Pretto I, DebeiS. Reaction torque control of redundant space robotic systems for orbital maintenance and simulated microgravity tests. Acta Astronautica, 2010, 67(3–4): 285–295

[13] Cocuzza S, Pretto I, Debei S. Least-squares-based reaction control of space manipulators. Journal of Guidance, Control, and Dynamics, 2012, 35( 3): 976– 986

[14] Torres M A, Dubowsky S. Minimizing spacecraft attitude disturbances in space manipulator systems. Journal of Guidance, Control, and Dynamics, 1992, 15( 4): 1010– 1017

[15] Yamada K. Attitude control of space robot by arm motion. Journal of Guidance, Control, and Dynamics, 1994, 17( 5): 1050– 1054

[16] Liang X C, Xu L S, Li L. Research on trajectory planning of a robot inspired by free-falling cat based on modified quasi-Newton algorithm. In: Proceedings of 2016 IEEE International Conference on Mechatronics and Automation. Harbin: IEEE, 2016, 552– 557

[17] Nakamura Y, Mukherjee R. Nonholonomic path planning of space robots via bi-directional approach. In: Proceedings of IEEE International Conference on Robotics and Automation. Cincinnati: IEEE, 1990, 1764– 1769

[18] Yan L, Xu W F, Hu Z H, Liang B. Multi-objective configuration optimization for coordinated capture of dual-arm space robot. Acta Astronautica, 2020, 167 : 189– 200

[19] Zhang X, Liu J G, Feng J K, Liu Y W, Ju Z J. Effective capture of nongraspable objects for space robots using geometric cage pairs. IEEE/ASME Transactions on Mechatronics, 2020, 25( 1): 95– 107

[20] Shi L L, Jayakody H, Katupitiya J, Jin X. Coordinated control of a dual-arm space robot: novel models and simulations for robotic control methods. IEEE Robotics & Automation Magazine, 2018, 25( 4): 86– 95

[21] Zhang X, Liu J G, Gao Q, Ju Z J. Adaptive robust decoupling control of multi-arm space robots using time-delay estimation technique. Nonlinear Dynamics, 2020, 100( 3): 2449– 2467

[22] James F, Shah S V, Singh A K, Krishna K M, Misra A K. Reactionless maneuvering of a space robot in precapture phase. Journal of Guidance, Control, and Dynamics, 2016, 39( 10): 2419– 2425

[23] Gouo A, Nenchev D N, Yoshida K, Uchiyama M. Motion control of dual-arm long-reach manipulators. Advanced Robotics, 1998, 13( 6): 617– 631

[24] Xie Y E, Wu X D, Inamori T, Shi Z, Sun X Z, Cui H T. Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot. Advances in Space Research, 2019, 63( 3): 1147– 1160

[25] Magnus J R, Neudecker H. Matrix Differential Calculus with Applications in Statistics and Econometrics. 3rd ed. Oxford: John Wiley & Sons, 2019, 169– 171

[26] Wampler C W. Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods. IEEE Transactions on Systems, Man, and Cybernetics, 1986, 16( 1): 93– 101

[27] SicilianoB, Sciavicco L, VillaniL, OrioloG. Robotics: Modelling, Planning and Control. London: Springer Science & Business Media, 2009

[28] Luh J Y S, Zheng Y F. Constrained relations between two coordinated industrial robots for motion control. International Journal of Robotics Research, 1987, 6( 3): 60– 70

[29] NakanoE, Ozaki S, IshidaT, KatoI. Cooperational control of the anthropomorphous manipulator “MELARM”. In: Proceedings of the 4th International Symposium on Industrial Robots. 1974, 251‒260