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This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the least-squares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to...
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...
This paper presents the development of the electrical simulator for the space station manipulator to support the design of the space manipulator's controller and the data communication verification between the space station and the manipulator. The assembly of the space manipulator model consists of the joint controller model, the joint dynamics model and the serial manipulator model. Besides, the...
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...
As some of the valuable satellites can maintain working after on-orbit servicing, it's meaningful to do research on the autonomous rendezvous. Most of these satellites have no target location markers or rendezvous sensors, the so-called non-cooperative satellites. Thus, the pose measurement is the key to the on-orbit servicing. In this paper, a closed-form solution for circle pose measurement is proposed...
Ground micro-gravity verification and test is vitally important for space robot. This paper mainly introduces a kind of ground micro-gravity emulation system, which can be used to verify the process of space robot capturing the target satellite in the 3-dimensional space. The system adopts the hardware-in-the-loop simulation, which mainly includes the real hardware system and the simulation software...
Facing current on-orbit servicing tasks, a space arm-hand system is designed and developed in this paper. Firstly, through contrast and analysis, the arm configuration of non-biased elbow and spherical wrist is identified, and the space hand system adopts the five-fingered dexterous robot hand. Secondly, the 6-DOF space arm system is accomplished including humanoid links and two different types of...
Ground micro-gravity verification and test for the on-orbit docking operation of non-cooperative target satellites in 3-dimensional space based on two 6-DOF industrial robots is essential and significant owing to the high risk and cost and the influence of the earth gravity. The development of ground micro-gravity verification system mainly adopts the hybrid simulation method, which includes the real...
The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the...
The motion of space manipulator with a flexible base will generate interaction forces and torques acting at the base, which cannot be avoided. In order to improve the control performance of the manipulator and the vibration depressing effect of the flexible base, a kind of combined control law is proposed. That is, a resolved acceleration control considering base information is adopted during path...
This paper presents an interconnection and damping assignment passivity based control (IDA-PBC) for the position and impedance control of flexible joint robot. In considering of the joint damping and with some simplification of friction, a flexible joint robot system is descripted as an port-controlled Hamiltonian system with dissipation(PCHD). Then, giving a desired Hamiltonian function which both...
Surface Sample Acquisition and Caching Device (SSACD) is an underway equipment which is designed for the upcoming Chinese Lunar Exploration Stage III: lunar sample return. Considering the characteristics of lunar environment and soil, the scoop of SSACD is a bionic design which would have lower digging resistance and higher efficiency. The unlocking mechanism is driven by motor and wire rope directly...
In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and...
This paper developed a teleoperation system of a space robot, which can assist the operator in planning trajectory quickly and intuitively. In addition to the general function, this system can ensure the completion of certain mission when some joint of the space robot is locked for a hardware malfunction. The teleoperation system includes 4 subsystems-Graphics display subsystem, Camera monitor subsystem,...
Owing to the high cost and risks of robotic tasks in space, space robots require that all procedures should be strictly verified and tested before launching. A ground-based multi-loop simulation verification testbed has been developed which can validate and test the visual servoing system for free-floating space robot to capture the target satellite in 3-dimensional space. The verification testbed...
The work present a humanoid robot with flexible joints and study the passivity control to improve the tracking performance. First, we induce the passivity control function and verified it in Simulink, then divide it into linear and non-linear part which execute in FPGA and DSP respectively. The linear part in FPGA is designed with hardware/software co-design method. Vector control is adopted to control...
A dexterous, light weight arm with high precision, high speed manoeuvrability has been built for playing ping-pong. It is based on the modular design concept. The 6 DOFs robot arm consists of two shoulder joints, two elbow joints and one wrist joint. Brushless DC motors and harmonic reducer with a large central hole are applied on the shoulder joints and the elbow joints. The wrist joints are characterized...
This work presents studies on application and implementation on the field programmable gate array (FPGA) technology into a robot joint controller in order to improve the tracking performance. The controller can be divided into two parts and designed with software and hardware separately. The first part is developed in Nios II embedded processor which is used to realize the velocity and torque control...
This paper is to develop an ontology-based mobile environment for collaborative product design and manufacture, which enables geographically dispersed team members to collaborate over the internet within the total design or manufacturing process, including product design specification, conceptual design, detail design, manufacture and recycling. In this paper, a database which based on a new method...
This paper presents a DSP/FPGA based multi-sensory flexible-joint robot including modular mechanics, hardware and software architecture. The robot is composed of four modular flexible joints and a DLR-HIT-Hand. In each joint there is a Field Programmable Gate Array (FPGA) for sensor data processing, brushless DC motor control and communication. The kernel of the hardware system is a PCI-based high...
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