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Singularity robust path planning for real time base attitude adjustment of free-floating space robot

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Abstract

This paper presents a singularity robust path planning for space manipulator to achieve base (satellite) attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAI (realtime application interface) is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm.

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Authors and Affiliations

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China

    Cheng Zhou, Ming-He Jin, Ye-Chao Liu, Ze Zhang, Yu Liu & Hong Liu

Authors
  1. Cheng Zhou
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  2. Ming-He Jin
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  3. Ye-Chao Liu
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  4. Ze Zhang
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  5. Yu Liu
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  6. Hong Liu
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Corresponding author

Correspondence to Cheng Zhou.

Additional information

This work was supported by National Program on Key Basic Research Project (973 Program, No. 2013CB733103) and the Program for New Century Excellent Talents in University (No.NCET-10- 0058)

Recommended by Associate Editor Min Cheol Lee

Cheng Zhou received the B. Sc. and M. Sc. degrees in mechanical engineering from the Harbin Institute of Technology, China in 2012 and 2014 respectively. He is currently a Ph. D. degree candidate in the School of Mechatronic Engineering at Harbin Institute of Technology, China. He received the Best Paper Finalist in 2015 IEEE International Conference on Mechanics and Automation.

His research interests include dynamics modeling, path planning and control of space robot.

ORCID iD: 0000-0003-3412-854X

Ming-He Jin received the B. Sc., M. Sc. and Ph.D. degrees in mechanical engineering from the Harbin Institute of Technology, China in 1993, 1996 and 2000, respectively. He is currently with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. Currently, he is a professor in the School of Mechatronic Engineering at Harbin Institute of Technology, China.

His research interests include dexterous hand and space robot.

Ye-Chao Liu received the B. Sc., M. Sc. and Ph.D. degrees in mechanical engineering from the Harbin Institute of Technology, China in 2002, 2004 and 2009, respectively. He is currently with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. He is currently an associate professor in the School of Mechatronic Engineering at Harbin Institute of Technology, China.

His research interests include impedance control of manipulator and space robot.

Ze Zhang received the B. Sc. degree in mechanical engineering from the Harbin Institute of Technology, China in 2014. He is currently a master student in the School of Mechatronic Engineering at Harbin Institute of Technology, China.

His research interests include control system development of manipulator.

Yu Liu received the M. Sc. and Ph.D. degrees in mechanical engineering from the Harbin Institute of Technology, China in 2000 and 2003, respectively. He is currently with the State Key Laboratory of Robotics and System, Harbin Institute of Technology, China. He is currently an associate professor in the School of Mechatronic Engineering at Harbin Institute of Technology, China.

His research interests include path planning and calibration of the robot.

Hong Liu received the Ph.D. degree in mechanical engineering from the Harbin Institute of Technology, China in 1993. He was a jointly trained Ph.D. scholar with the Institute of Robotics and System Dynamics, German Aerospace Research Establishment, Wessling, Germany, from 1991 to 1993, where he has been a research fellow since 1993. He is currently with the State Key Laboratory of Robotics and System, Harbin Institute of Technology. He is currently a professor in the School of Mechatronic Engineering at Harbin Institute of Technology, China.

His research interests include dexterous hand and space robot.

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Zhou, C., Jin, MH., Liu, YC. et al. Singularity robust path planning for real time base attitude adjustment of free-floating space robot. Int. J. Autom. Comput. 14, 169–178 (2017). https://doi.org/10.1007/s11633-017-1055-1

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  • DOI: https://doi.org/10.1007/s11633-017-1055-1

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