Motion optimization of redundant free-floating space robot in Cartesian space

Zongwu Xie; Jiayuan Lu; Yikun Gu; Haitao Yang; Xiaoyu Zhao; Minghe Jin

doi:10.1109/RCAR.2017.8311948

Motion optimization of redundant free-floating space robot in Cartesian space

Zongwu Xie^*
, Jiayuan Lu
, Yikun Gu
, Haitao Yang
, Xiaoyu Zhao
, Minghe Jin

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Motion planning of space robot approaching the target satellite is indispensable for satellite on-orbit servicing. However, many motion planning methods cannot be directly applied to practical space robot system. In order to solve this problem, we adopt the velocity-level kinematics to solve the motion planning problem of space robot in Cartesian space. During the process of space robot motion, the attitude disturbance optimization of satellite base and joint limits avoidance are key issues. For the joint limit problem, the joint threshold function optimization method is proposed. For the disturbance of the base attitude, we propose a new optimization method based on the coupling angular momentum. Finally, the results of the simulation experiment are given, which prove that the methods in this paper are valid.

Original language	English
Title of host publication	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	709-714
Number of pages	6
ISBN (Electronic)	9781538620342
DOIs	https://doi.org/10.1109/RCAR.2017.8311948
State	Published - 2 Jul 2017
Event	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 - Okinawa, Japan Duration: 14 Jul 2017 → 18 Jul 2017

Publication series

Name	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Volume	2017-July

Conference

Conference	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Country/Territory	Japan
City	Okinawa
Period	14/07/17 → 18/07/17

Access to Document

10.1109/RCAR.2017.8311948

Cite this

Xie, Z., Lu, J., Gu, Y., Yang, H., Zhao, X., & Jin, M. (2017). Motion optimization of redundant free-floating space robot in Cartesian space. In 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 (pp. 709-714). (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017; Vol. 2017-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2017.8311948

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title = "Motion optimization of redundant free-floating space robot in Cartesian space",

abstract = "Motion planning of space robot approaching the target satellite is indispensable for satellite on-orbit servicing. However, many motion planning methods cannot be directly applied to practical space robot system. In order to solve this problem, we adopt the velocity-level kinematics to solve the motion planning problem of space robot in Cartesian space. During the process of space robot motion, the attitude disturbance optimization of satellite base and joint limits avoidance are key issues. For the joint limit problem, the joint threshold function optimization method is proposed. For the disturbance of the base attitude, we propose a new optimization method based on the coupling angular momentum. Finally, the results of the simulation experiment are given, which prove that the methods in this paper are valid.",

author = "Zongwu Xie and Jiayuan Lu and Yikun Gu and Haitao Yang and Xiaoyu Zhao and Minghe Jin",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 ; Conference date: 14-07-2017 Through 18-07-2017",

year = "2017",

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doi = "10.1109/RCAR.2017.8311948",

language = "英语",

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Xie, Z, Lu, J, Gu, Y, Yang, H, Zhao, X & Jin, M 2017, Motion optimization of redundant free-floating space robot in Cartesian space. in 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017, vol. 2017-July, Institute of Electrical and Electronics Engineers Inc., pp. 709-714, 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017, Okinawa, Japan, 14/07/17. https://doi.org/10.1109/RCAR.2017.8311948

Motion optimization of redundant free-floating space robot in Cartesian space. / Xie, Zongwu; Lu, Jiayuan; Gu, Yikun et al.
2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 709-714 (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017; Vol. 2017-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Motion optimization of redundant free-floating space robot in Cartesian space

AU - Xie, Zongwu

AU - Lu, Jiayuan

AU - Gu, Yikun

AU - Yang, Haitao

AU - Zhao, Xiaoyu

AU - Jin, Minghe

PY - 2017/7/2

Y1 - 2017/7/2

N2 - Motion planning of space robot approaching the target satellite is indispensable for satellite on-orbit servicing. However, many motion planning methods cannot be directly applied to practical space robot system. In order to solve this problem, we adopt the velocity-level kinematics to solve the motion planning problem of space robot in Cartesian space. During the process of space robot motion, the attitude disturbance optimization of satellite base and joint limits avoidance are key issues. For the joint limit problem, the joint threshold function optimization method is proposed. For the disturbance of the base attitude, we propose a new optimization method based on the coupling angular momentum. Finally, the results of the simulation experiment are given, which prove that the methods in this paper are valid.

AB - Motion planning of space robot approaching the target satellite is indispensable for satellite on-orbit servicing. However, many motion planning methods cannot be directly applied to practical space robot system. In order to solve this problem, we adopt the velocity-level kinematics to solve the motion planning problem of space robot in Cartesian space. During the process of space robot motion, the attitude disturbance optimization of satellite base and joint limits avoidance are key issues. For the joint limit problem, the joint threshold function optimization method is proposed. For the disturbance of the base attitude, we propose a new optimization method based on the coupling angular momentum. Finally, the results of the simulation experiment are given, which prove that the methods in this paper are valid.

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U2 - 10.1109/RCAR.2017.8311948

DO - 10.1109/RCAR.2017.8311948

M3 - 会议稿件

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T3 - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017

SP - 709

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BT - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017

Y2 - 14 July 2017 through 18 July 2017

ER -

Xie Z, Lu J, Gu Y, Yang H, Zhao X, Jin M. Motion optimization of redundant free-floating space robot in Cartesian space. In 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 709-714. (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017). doi: 10.1109/RCAR.2017.8311948

Motion optimization of redundant free-floating space robot in Cartesian space

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