Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Moghaddam, B.M., Chhabra, R.: On the guidance, navigation and control of in-orbit space robotic missions: a survey and prospective vision. Acta Astronaut. 184, 70–100 (2021)
Liu, J., Du, B., Huang, Q.: Space robotic de-tumbling of large target with eddy current brake in hand. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds.) ICIRA 2017. LNCS (LNAI), vol. 10464, pp. 637–649. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-65298-6_57
Wenfu, X., Jianqing, P., Bin, L., et al.: Hybrid modeling and analysis method for dynamic coupling of space robots. IEEE Trans. Aerosp. Electron. Syst. 52(1), 85–98 (2016)
Wan, W., Sun, C., Yuan, J., et al.: Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators, pp. 450–461 (2019)
Liu, Y., Zhao, Y., Tan, C., et al.: Economic value analysis of on-orbit servicing for geosynchronous communication satellites. Acta Astronaut. 180, 176–188 (2021)
Flores-Abad, A., Zhang, L., Wei, Z., et al.: Erratum to: Optimal capture of a tumbling in orbit using a space manipulator. J. Intell. Robot. Syst. 86(2), 199–211 (2017)
Huang, P., Zhang, F., Meng, Z., et al.: Adaptive control for space debris removal with uncertain kinematics, dynamics and states. Acta Astronaut. 128(11–12), 416–430 (2016)
Yan, L., Yuan, H., Xu, W., et al.: Generalized relative Jacobian matrix of space robot for dual-arm coordinated capture. J. Guid. Control. Dyn. 41(5), 1202–1208 (2018)
Wenfu, X., Liang, B., Cheng, L., et al.: Measurement and planning approach of space robot for capturing non-cooperative target. Robot 32(1), 61–69 (2010)
Kazuya, Y., Ryo, K., Yoji, U.: Dual arm coordination in space free-flying robot. In: IEEE International Conference on Robotics and Automation, pp. 2516–2521 (1991)
Basmadji, F.L., Seweryn, K., Sasiadek, J.Z.: Space robot motion planning in the presence of nonconserved linear and angular momenta. Multibody Syst. Dyn. 50(1), 71–96 (2020)
Shi, L., Kayastha, S., Katupitiya, J.: Robust coordinated control of a dual-arm space robot. Acta Astronaut. 138, 475–489 (2017)
Liu, Y., Yu, C., Sheng, J., et al.: Self-collision avoidance trajectory planning and robust control of a dual-arm space robot. Int. J. Control Autom. Syst. 16(6), 2896–2905 (2018)
Wang, M., Luo, J., Yuan, J., et al.: Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization. Acta Astronaut. 146, 259–272 (2018)
Wu, Y., Yu, Z., Li, C., et al.: Reinforcement learning in dual-arm trajectory planning for a free-floating space robot. Aerosp. Sci. Technol. 98, 105657 (2020)
Shah, S.V., Sharf, I., Misra, A.: Reactionless path planning strategies for capture of tumbling in space using a dual-arm robotic system. American Institute of Aeronautics and Astronautics (2013)
Zhonghua, H., Wenfu, X., Lei, Y., et al.: Dynamic closest point identification and estimation for tumbling target capturing. In: 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1130–1135 (2018)
Zhonghua, H., Taiwei, Y., Wenfu, X., et al.: A kinematic equivalence trajectory planning method of hybrid active and passive cable-driven segmented hyper-redundant manipulator. In: 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1280–1285 (2019)
Wenfu, X., Zhonghua, H., Lei, Y., et al.: Modeling and planning of a space robot for capturing tumbling target by approaching the dynamic closest point. Multibody Syst. Dyn. 47(3), 203–241 (2019)
Acknowledgements
This work was supported by the Key-area Research and Development Program of Guangdong Province (Grant Number: 2019B090915001). Besides, we would like to thank to Science and Technology Innovation Committee of Shenzhen for their financial supports on this work (The Basic Research Program of Shenzhen, Grant Number: JCYJ20180507183610564, JCYJ20190806142818365, JCYJ20180507183644237).
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
Hu, Z., Xu, W., Yang, T., Yuan, H., Zou, H. (2021). A Coordination Planning Method of the Hybrid Two-Arm Space Robot for On-Orbit Servicing. 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_44
Download citation
DOI: https://doi.org/10.1007/978-3-030-89092-6_44
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-89091-9
Online ISBN: 978-3-030-89092-6
eBook Packages: Computer ScienceComputer Science (R0)