This paper addresses the problem of the coordinated control of the free-floating dual-arm space robots, in the case of multiple conflict tasks. Taking the dynamic coupling effect into consideration, a relative Jacobian matrix is presented to establish the kinematic model of the free-floating dual-arm space robot. Then, an adaptive coordinated controller is elaborately developed for three conflict tasks, including position tracking of the master arm, relative motion of dual arms, and obstacle avoidance. Owing to the hybrid task-priority approach, the proposed controller can effectively ensure the execution of the obstacle avoidance task without sacrificing the performance of the first two tasks. In addition, the singularity problem is settled via introducing an adaptive damping factor based damped least-squares inverse. Meanwhile, a novel hyperbolic tangent function is designed to handle the discontinuity in performing the null space task. Finally, numerical simulations were constructed to compare the performance of the proposed coordinated controller based on hybrid task-priority approach with the controller based on task-priority approach. The simulation results show that the proposed controller has an improved tracking performance of the master arm and safety performance, compared with single task-priority approach.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Coordinated control of free-floating dual-arm space robots based on hybrid task-priority approach


    Beteiligte:
    Hong, Mengqing (Autor:in) / Zhou, Hui (Autor:in) / Liu, Liaoxue (Autor:in) / Guo, Yu (Autor:in)


    Erscheinungsdatum :

    01.09.2022


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Hybrid task priority-based motion control of a redundant free-floating space robot

    ZHOU, Cheng / JIN, Minghe / LIU, Yechao et al. | British Library Online Contents | 2017


    Free-floating dual-arm robots for space assembly

    Agrawal, S.K. / Chen, M.Y. | Tema Archiv | 1994


    Free-floating dual-arm robots for space assembly

    Agrawal, Sunil / Chen, M. | AIAA | 1994


    Free-Floating Dual-Arm Robots for Space Assembly

    Agrawal, S. K. / Chen, M. Y. / American Institute of Aeronautics and Astronautics et al. | British Library Conference Proceedings | 1994


    Coordinated control for free-flyer space robots

    Marchesi, M. / Angrilli, F. / Venezia, R. | IEEE | 2000