Skip to main content

Advertisement

SpringerLink
Log in

Energy-efficient joint path-following for attitude-fixed space manipulators with bounds on completion time and motor voltage/current

  • Original Research Paper
  • Published:
Intelligent Service Robotics Aims and scope Submit manuscript

Abstract

This paper investigates the minimum-energy joint path-following problem for space manipulators whose base attitude is stabilized by reaction wheels. In the problem, manipulator joint path is specified for rest-to-rest motion and constraints are imposed as the upper bound on both motion completion time and the voltage/current limits of DC motors in manipulator joints and reaction wheels. We suggest a simple two-stage algorithm to address this problem. The algorithm first tries to find a global optimal solution by solving a relaxed convex problem. If the convex relaxation is not successful, then the algorithm solves subproblems iteratively to find a suboptimal solution. Since both problems are formulated as second-order cone programming (SOCP) form, they can be solved efficiently using dedicated SOCP solvers. The effectiveness of the proposed method is verified by numerical experiments.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

References

  1. Belousov I, Ferre E, Laumond JP, Esteves C (2005) Motion planning for the large space manipulators with complicated dynamics. In: 2005 IEEE/RSJ international conference on intelligent robots and systems, IEEE, pp 2160–2166

  2. Bobrow J, Dubowsky S, Gibson J (1985) Time-optimal control of robotic manipulators along specified paths. Int J Robot Res 4(3):3–17

    Article  Google Scholar 

  3. Boyd S, Vandenberghe L (2009) Convex optimization. Cambridge University Press, New York

    MATH  Google Scholar 

  4. Choset H, Lynch KM, Hutchinson S, Kantor GA, Burgard W, Kavraki LE, Thrun S (2005) Principles of robot motion: theory, algorithms, and implementation. Cambridge, Massachusetts

  5. Ellery A, Kreisel J, Sommer B (2008) The case for robotic on-orbit servicing of spacecraft: spacecraft reliability is a myth. Acta Astronaut 63(5–6):632–648

    Article  Google Scholar 

  6. Flores-Abad A, Ma O, Pham K, Ulrich S (2014) A review of space robotics technologies for on-orbit servicing. Prog Aerosp Sci 68:1–26

    Article  Google Scholar 

  7. Fortescue P, Swinered G, Stark J (2003) Spacecraft systems engineering, 3rd edn. West Sussex, England

  8. Kennedy C, Desai J (2005) Modeling and control of the Mitsubishi PA-10 robot arm harmonic drive system. IEEE/ASME Trans Mechatron 10(3):263–274

    Article  Google Scholar 

  9. Kim YM, Kim BK (2014) Energy-efficient trajectory generation for space manipulators with reaction wheels under a fixed base orientation. J Intell Robot Syst 76(2):219–237

    Article  Google Scholar 

  10. Leahy MB Jr, Saridis GN (1989) Compensation of industrial manipulator dynamics. Int J Robot Res 8(4):73–84

    Article  Google Scholar 

  11. Lobo MS, Vandenberghe L, Boyd S, Lebret H (1998) Applications of second-order cone programming. Linear Algebra Appl 284(1–3):193–228

    Article  MathSciNet  MATH  Google Scholar 

  12. Löfberg J (2004) YALMIP: a toolbox for modeling and optimization in MATLAB. In: 2004 IEEE international symposium on computer aided control systems design, IEEE, pp 284–289

  13. Oki T, Nakanishi H, Yoshida K (2010) Time-optimal manipulator control for management of angular momentum distribution during the capture of a tumbling target. Adv Robot 24(3):441–466

    Article  Google Scholar 

  14. Reynoso-Mora P, Chen W, Tomizuka M (2013) On the time-optimal trajectory planning and control of robotic manipulators along predefined paths. In: 2013 American control conference, IEEE, Washington, DC, USA, pp 371–377

  15. Shiller Z (1996) Time-energy optimal control of articulated systems with geometric path constraints. J Dyn Syst Meas Control 118(1):139–143

    Article  MATH  Google Scholar 

  16. Shin KG, McKay N (1985) Minimum-time control of robotic manipulators with geometric path constraints. IEEE Trans Autom Control 30(6):531–541

    Article  MATH  Google Scholar 

  17. Shin KG, McKay ND (1986) A dynamic programming approach to trajectory planning of robotic manipulators. IEEE Trans Autom Control AC-31(6):491–500

  18. Sturm JF (1999) Using SeDuMi 1.02, a MATLAB toolbox for optimization over symmetric cones. Optim Methods Softw 11(1–4):625–653

    Article  MathSciNet  MATH  Google Scholar 

  19. Verscheure D, Demeulenaere B, Swevers J, De Schutter J, Diehl M (2009) Time-optimal path tracking for robots: a convex optimization approach. IEEE Trans Autom Control 54(10):2318–2327

    Article  MathSciNet  Google Scholar 

  20. Wigström O, Lennartson B (2011) Energy optimization of trajectories for high level scheduling. In: 2011 IEEE conference on automation science and engineering (CASE), IEEE, Trieste, Italy, 24–27 August 2011 pp 654–659

  21. Wigström O, Lennartson B, Vergnano A, Breitholtz C (2013) High-level scheduling of energy optimal trajectories. IEEE Trans Autom Sci Eng 10(1):57–64

    Article  Google Scholar 

  22. Yoshida K, Wilcox B (2008) Space robots. In: Siciliano B, Khatib O (eds) Springer handbook of robotics, chap. 45, pp 1031–1063. Springer, Berlin

  23. Yoshida K (2009) Achievements in space robotics. IEEE Robot Autom Mag 16(4):20–28

    Article  Google Scholar 

  24. Zhang Q, Li S, Guo JX, Gao XS (2015) Time-optimal path tracking for robots under dynamics constraints based on convex optimization. Robotica 34(9):2116–2139

Download references

Author information

Authors and Affiliations

  1. Korea Advanced Institute of Science and Technology, Daejeon, Korea

    Yong-Min Kim & Byung-Kook Kim

Authors
  1. Yong-Min Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Byung-Kook Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yong-Min Kim.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Kim, YM., Kim, BK. Energy-efficient joint path-following for attitude-fixed space manipulators with bounds on completion time and motor voltage/current. Intel Serv Robotics 10, 1–11 (2017). https://doi.org/10.1007/s11370-016-0211-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11370-016-0211-8

Keywords

Search

Navigation