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Reaction torque control of redundant free-floating space robot

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Abstract

This paper presents the reaction torque based satellite base reactionless control or base disturbance minimization of a redundant free-floating space robot. This subject is of vital importance in the study of the free-floating space robot because the base disturbance minimization will result in less energy consumption and prolonged control application. The analytical formulation of the reaction torque is derived in this article, and the reaction torque control can achieve reactionless control and satellite base disturbance minimization. Furthermore, we derive the reaction torque based control of the space robot for base disturbance minimization from both the non-strict task priority and strict task priority control strategy. The dynamics singularity in the proposed algorithm is avoided in this paper. Besides, a real time simulation system of the space robot under Linux/real time application interface (RTAI) is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online reaction torque control of the redundant free-floating space robot.

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Authors and Affiliations

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

    Ming-He Jin, Cheng Zhou, Ye-Chao Liu, Zi-Qi Liu & Hong Liu

Authors
  1. Ming-He Jin
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  2. Cheng Zhou
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  3. Ye-Chao Liu
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  4. Zi-Qi Liu
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  5. 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 Wing Cheong Daniel Ho

Ming-He Jin received the B. Sc. M. Sc., and Ph.D. degrees in mechanical engineering from 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, China. 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.

ORCID iD: 0000-0001-6643-2824

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

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

ORCID iD: 0000-0003-3412-854X

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

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

Zi-Qi Liu received the B. Sc. degree in College of Biological and Agricultural Engineering from the Jinlin University, China in 2015. She is currently a master student at School of Mechatronics Engineering, Harbin Institute of Technology, China.

Her research interest is control system development of a manipulator.

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, 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, China. He is currently a professor at School of Mechatronic Engineering, Harbin Institute of Technology, China.

His research interests include dexterous hand and space robot.

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Jin, MH., Zhou, C., Liu, YC. et al. Reaction torque control of redundant free-floating space robot. Int. J. Autom. Comput. 14, 295–306 (2017). https://doi.org/10.1007/s11633-017-1067-x

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  • DOI: https://doi.org/10.1007/s11633-017-1067-x

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