Abstract
To ensure that tasks can be completed after a free-swinging joint failure occurs, an iterative learning control method for the space manipulator is proposed in this paper. First, the dynamics coupling relationship between the fault and active joint is established. Second, by planning the active joint motion with a quintic polynomial interpolation function, the regulation of the fault joint is transformed into minimizing the error between the actual and desired angle of the fault joint. Third, based on ILC, the active joint trajectory is planned repeatedly and the desired trajectory is obtained at last. In this way, the fault joint can be precisely regulated to the desired angle once the active joint moves along its panned trajectory. The simulation results indicate that the fault joint is precisely regulated to the desired angle, and the regulation error can reach 0.1° at least, verifying the correctness and effective-ness of the regulation method.
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Acknowledgements
This study was supported by Supported by the National Natural Science Foundation of China (No. 51975059), BUPT Excellent Ph.D. Students Foundation (CX2021312), and the Science and Technology Foundation of State Key Laboratory (No. 19KY1213).
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Fu, Y., Jia, Q., Chen, G., Wang, Y. (2021). Regulation of Space Manipulators with Free-Swinging Joint Failure Based on Iterative Learning Control. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_33
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DOI: https://doi.org/10.1007/978-3-030-89092-6_33
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