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Trajectory planning has been a common and important topic in robotics since its generation. As a powerful tool, it can enhance the performance of the robots in manufacturing industry. In this paper, a trajectory planning method based on unit quaternion was proposed. Unit quaternions were used to represent the orientations of the target as there are no more singularities. The trajectory was planning...
As some of the valuable satellites can maintain working after on-orbit servicing, it's meaningful to study on the autonomous rendezvous. Most of these satellites are non-cooperative, more specifically, they have no target location markers or rendezvous sensors. This paper extracts the edge of the adapter ring as natures for recognition, measurement or even mechanical docking. A practical detection...
In the paper, a new method named Cartesian Space Synchronous Impedance Control (CSSIC) has been developed. The method combines the synchronous control and the impedance control together which can not only be used in the position control but can also realize the purpose of force control of the system with multi-manipulators. Therefore, if there are multi-manipulators grasping the same object, it can...
Vision-based non-cooperative spacecraft capturing for on-orbit servicing, space-debris collections, space attack and defense, has been a research focus in the field of space robot technique, recently. However, it remains a challenge to determine the relative pose of non-cooperative spacecraft rapidly and accurately in the capturing task. This article proposes a novel method based on multi-feature...
Both manipulative accuracy and system safety are important for teleoperation. Traditional virtual fixture has good accuracy in fully known environment, however it is unable to handle suddenness (avoiding obstacles and etc.) in unstructured environment teleoperation which is crucial to system safety. In this paper we present the flexible virtual fixture enhanced by vision and haptics for unstructured...
A key technology of space robots is to maintain the satellite attitude while space service is proceeding. This paper discusses the motion planning and control methods for both robot satellite attitude and robotic end-effector actions in the form of collaboration. A single gimbal control moment gyro (SGCMG) system is adopted to maintain the satellite attitude because of higher output torque than traditional...
Self-localization is the most necessary foundation of mobile robot's navigation system. Omnidirectional vision system has been widely used in mobile robot. However, the accuracy of vision-based methods is not enough for many applications. In this paper, based on bearing-only localization, a probabilistic method is presented to accurately estimate mobile robot's position making use of omnidirectional...
In this paper, an improved algorithm to measure Chinapsilas EMU spacesuit joint damping parameters for the old passive robot system is presented. The measuring principle is based on robot kinematics and dynamics. Firstly, a kinematic model of the passive robot and the EMU spacesuitpsilas arm is built according to the special mechanical structure. Secondly, improved methods of solving the inverse kinematics...
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