TY - GEN
T1 - A Coordination Planning Method of the Hybrid Two-Arm Space Robot for On-Orbit Servicing
AU - Hu, Zhonghua
AU - Xu, Wenfu
AU - Yang, Taiwei
AU - Yuan, Han
AU - Zou, Huaiwu
N1 - Publisher Copyright:
© 2021, Springer Nature Switzerland AG.
PY - 2021
Y1 - 2021
N2 - A geosynchronous-orbit (GEO) satellite that is out of order due to component failure, will bring critical challenges for space robots to capture and repair it. To overcome the above challenges, a space robot system equipped with a traditional redundant manipulator (Arm-a) and a segmented hyper-redundant manipulator (Arm-b) is introduced in the paper. Firstly, the kinematics model considering the conservation of momentum is established. The coordination trajectory planning method is then proposed to make space robot detect the target point in the confined space. Based on the position, attitude, and configuration deviations, the linear and angular velocities of the two arms are planned at the same time. In order to realize the configuration planning of the system, a modified generalized Jacobian (MGJ) is derived. The joint angular velocities of two arms are resolved by the MGJ. Furthermore, joint angles of Arm-a and Arm-b are obtained according to numerical integration. Finally a co-simulation system is designed and the numerical simulation is carried out. The simulation results demonstrate the proposed method.
AB - A geosynchronous-orbit (GEO) satellite that is out of order due to component failure, will bring critical challenges for space robots to capture and repair it. To overcome the above challenges, a space robot system equipped with a traditional redundant manipulator (Arm-a) and a segmented hyper-redundant manipulator (Arm-b) is introduced in the paper. Firstly, the kinematics model considering the conservation of momentum is established. The coordination trajectory planning method is then proposed to make space robot detect the target point in the confined space. Based on the position, attitude, and configuration deviations, the linear and angular velocities of the two arms are planned at the same time. In order to realize the configuration planning of the system, a modified generalized Jacobian (MGJ) is derived. The joint angular velocities of two arms are resolved by the MGJ. Furthermore, joint angles of Arm-a and Arm-b are obtained according to numerical integration. Finally a co-simulation system is designed and the numerical simulation is carried out. The simulation results demonstrate the proposed method.
KW - Coordination trajectory planning
KW - Hybrid (hyper)redundant two-arms
KW - Space robot
UR - https://www.scopus.com/pages/publications/85118178513
U2 - 10.1007/978-3-030-89092-6_44
DO - 10.1007/978-3-030-89092-6_44
M3 - 会议稿件
AN - SCOPUS:85118178513
SN - 9783030890919
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 485
EP - 497
BT - Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings
A2 - Liu, Xin-Jun
A2 - Nie, Zhenguo
A2 - Yu, Jingjun
A2 - Xie, Fugui
A2 - Song, Rui
PB - Springer Science and Business Media Deutschland GmbH
T2 - 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021
Y2 - 22 October 2021 through 25 October 2021
ER -