An engineering approach to the dynamic control of space robotic on-orbit servicers

Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering

Volumn 218, Issue 2, 2004, Pages 79-98

  Ellery, A ^a  

^a UNIVERSITY OF SURREY   (United Kingdom)

Author keywords

Control; Dynamics; Kinematics; On orbit servicing; Robotics; Spacecraft

Indexed keywords

ACCELERATION MEASUREMENT; INVERSE KINEMATICS; NUCLEAR FUELS; PROBLEM SOLVING; SPACECRAFT; VELOCITY MEASUREMENT;

COMMERCIAL DEVELOPMENT; LINEAR VELOCITY; ON-ORBIT SERVICING; REAL-TIME PERFORMANCE;

ROBOTICS;

EID: 8644268119     PISSN: 09544100     EISSN: None     Source Type: Journal    
DOI: 10.1243/0954410041321998     Document Type: Article

References (91)

1. Ellery, A., Welch, C. and Curley, A. A proposed public-private partnership for the funding of robotic in-orbit servicers, In ASME Proceedings of Space and Robots Conference 2002, Alburquerque, New Mexico, March 2002.
2. Shrivastava, S. and Modi, V. Satellite attitude dynamics and control in the presence of environmental torques - a brief survey. J. Guidance, 1983, 6(6), 461-471.
3. Marcyk, J. and Bellazzi, A. Dynamics and control of freeflying inspection and maintenance vehicle with manipulators. In Proceedings of 2nd European In-Orbit Operations Technology Symposium, 1989, ESA SP-297, pp. 413-427.
4. Hooker, W. and Margulies, G. Dynamical attitude equations for n-body satellite. J. Astronaut. Sci., 1965, 12(4), 123-128.
5. Hooker, W. Set of r dynamical attitude equations for arbitrary n-body satellite with r rotational degrees of freedom. Am. Inst. Aeronaut. Astronaut. J., 1970, 8(7). 1205-1207.
6. Ho, J. Direct path method for flexible multibody spacecraft dynamics. J. Space, 1977, 14(2), 102-110.
7. Jerkovsky, W. Structure of multibody dynamics equations. J. Guidance and Control, 1978, 1(3), 173-182.
8. Hughes, P. Dynamics of a chain of flexible bodies. J. Astronaut. Sci., 1979, 27(4), 359-380.
9. Grewal, A. and Modi, V. Dynamics and control of multibody systems: an approach with applications. Acta Astronaut., 1996, 39(5), 323-346.
10. Grewal, A. and Modi, V. Robust attitude and vibration control of the Space Station. Acta Astronaut., 1996, 38(3), 139-160.
11. Van Woerkom, P. Synthesis and summary of control laws for large flexible spacecraft. Control Theory and Advd Technol., 1993, 9(3), 639-669.
12. Goel, P. and Maharama, P. Active damping technique for satellites with flexible appendages. Acta Astronaut., 1995, 36(5), 239-250.
13. Murotsu, Y., Tsujio, S., Sends, K. and Hayashi, M. Trajectory control of flexible manipulators on a freeflying space robot. IEEE Control Syst., June 1992, 51-57.
14. Van Woerkom, P. and Misra, A. Robotic manipulators in space: a dynamics and control perpective. Acta Astronaut., 1996, 38(4-8), 418-421.
15. Paul, R. Robot manipulators: mathematics, programming and control, 1981 (MIT Press, Cambridge, Massachusetts).
16. Fu, K., Gonzalez, R. and Lee, C. Robotics: Control, Sensing, Vision and Intelligence, 1987 (McGraw-Hill, Singapore).
17. Rodriguez, G. Kalman filtering, smoothing and recursive robot arm forward and inverse dynamics. IEEE J. Robotics and Automn, 1987, 3(6), 624-639.
18. Johnson, D. and Hill, J. Kalman filter approach to sensor based robot control. IEEE J. Robotics and Automn, 1985, 1(3), 159-162.
19. Silver, W. On equivalence of Lagrangian and Newton-Euler dynamics for manipulators. Int. J. Robotics Res., 1982. 1(2), 60-69.
20. Walker, M. and Orin, D. Efficient dynamic computer simulation of robotic mechanisms. Trans. ASME, J. Dynam. Syst. Mechanics and Control, September 1982, 104, 205-211.
21. Lumia, R. and Wavering, A. Trajectory generation for space telerobots. In Proceedings of NASA Workshop on Space Telerobotics II, 1989, pp. 123-131.
22. Khatib, O. Unified approach for motion and force control of robotic manipulators: operational space formulation. Trans. ASME, Basic Engr, March 1987, 35-45.
23. Luh, J., Walker, M. and Paul, R. On-line computational scheme for mechanical manipulators. Trans. ASME, J. Dynamic Syst. Measmt and Control, June 1980, 102, 69-76.
24. Jain, A. and Rodriguez, G. Recursive flexible multibody dynamics using spatial operators. J. Guidance, Control and Dynamics, 1992, 15(6), 1453-1466.
25. Van Woerkom, P. and De Boer, A. Development and validation of a linear recursive 'order n' algorithm for the simulation of flexible space manipulator dynamics. Acta Astronaut., 1995, 35(2/3), 175-185.
26. Hollerbach, J. Recursive Lagrangian formulation of manipulator dynamics and comparative study of dynamics formulation complexity. IEEE Trans. Syst. Man and Cybernetics, 1980, 10(11), 730-736.
27. Kane, T. and Levinson, D. Formulation of equations of motion for complex spacecraft. J. Guidance and Control, 1983, 6(2), 99-122.
28. Nagashima, F. and Nakaruma, Y. Efficient computation scheme for the kinematics and inverse dynamics of a satellite-based manipulator. In Proceedings of IEEE International Conference on Robotics and Automation, 1992, pp. 905-912.
29. Kane, T. and Levinson, D. Use of Kane's equations in robotics. Int. J. Robotics Res., 1983, 2(3), 3-21.
30. Konigstein, R. Computed torque control of freeflying cooperating arm robot. In Proceedings of NASA Workshop on Space Telerobotics V, 1989, pp. 235-243.
31. Longman, R. Kinetics and workspace of robot mounted on satellite that is free to rotate and translate. AIAA 88-4097-CP, 1988.
32. Vafa, Z. and Dubowsky, S. On dynamics of manipulators in space using the virtual manipulator approach. In Proceedings of IEEE International Conference on Robotics and Automation, 1987, pp. 579-585.
33. Vafa, Z. and Dubowsky, S. Kinematics and dynamics of space manipulators: the virtual manipulator approach. Int. J. Robotics Res., 1990, 9(4), 852-872.
34. Yamada, K. and Yoshikawa, S. Feedback control of space robot attitude by cyclic cone motions. J. Guidance, Control and Dynamics, 1997, 20(4), 715-720.
35. Vafa, Z. Space manipulator motions with no satellite attitude disturbances. In Proceedings of IEEE International Conference on Robotics and Automation, 1990, pp. 1770-1775.
36. Umetani, Y. and Yoshida, K. Resolved motion rate control of space manipulators using a generalised Jacobian matrix. IEEE Trans. Robotics and Automn, 1989, 5(3), 303-314.
37. Papadopoulos, E. and Dubowsky, S. On the nature of control algorithms for free-floating manipulators. IEEE Trans. Robotics and Automn, 1991, 7(6), 750-758.
38. Papadopoulos, E. and Dubowsky, S. Coordinated manipulator/spacecraft motion control for space robotic systems. In Proceedings of IEEE International Conference on Robotics and Automation, 1991, pp. 1696-1702.
39. Masutani, Y., Mayazako, F. and Arimoto, S. Sensory feedback control for space manipulators. In Proceedings of IEEE International Conference on Robotics and Automation, 1989, pp. 1346-1351.
40. Xu, Y. Measure of dynamic coupling of space robot system. In Proceedings of IEEE International Conference on Robotics and Automation, 1993, pp. 615-620.
41. Kowano, I., Mokuno, M., Kasai, T. and Suzechi, T. Result of autonomous rendezvous docking experiment of ETS VII. J. Spacecraft and Rockets, 2001, 38(1), 105-111.
42. Papadopoulos, E. and Dubowsky, S. On dynamic singularities in the control of free-floating manipulators. Trans. ASME, Dynamic Syst. and Control, 1989, 15, 45-52.
43. Papadopoulos, E. and Dubowsky, S. Kinematics, dynamics and control of freeflying and freefloating space robotic systems. IEEE Trans. Robotics and Automn, 1993, 9(5), 531-543.
44. Nakaruma, Y. and Mukherjee, R. Nonholonomic path planning of space robots via the bidirectional approach. IEEE Trans. Robotics and Automn, 1989, 7(4), 500-514.
45. Nenchev, D., Umetani, Y. and Yoshida, K. Analysis of a redundant freeflying spacecraft manipulator system. IEEE Trans. Robotics and Automn, 1992, 8(1), 1-6.
46. Dubowsky, S., Vance, E. and Torres, M. Control of space manipulators subject to spacecraft attitude control control saturation limits. In Proceedings of NASA Workshop on Space Telerobotics IV, 1989, pp. 409-418.
47. Spofford, J. and Akin, D. Redundancy control of freeflying telerobots. AIAA 88-4094-CP, 1988.
48. Slotine, J.-J. and Li, W. On the adaptive control of manipulators. Int. J. Robotics Res., 1987, 6(3), 49-59.
49. Papadopoulos, E. and Dubowsky, S. On the nature of control algorithms for space manipulators. In Proceedings of IEEE International Conference on Robotics and Automation, 1990, pp. 1102-1108.
50. Walker, M. and Wee, L. Adaptive control of space based robot manipulator. IEEE Trans. Robotics and Automn, 1991,7(6), 828-835.
51. Walker, M. and Wee, L. Adaptive control strategy for space based robot manipulators. In Proceedings of IEEE Conference on Robotics and Automation, 1991. pp. 1673-1680.
52. Rui, C., Kolmanovsky, I. and McClamroch, N. Nonlinear attitude and shape control of spacecraft with articulated appendages and reaction wheels. IEEE Trans. Autom. Control, 2000, 45(8), 1455-1469.
53. Lindberg, R., Longman, R. and Zedd, M. Kinematics and reaction moment compensation for the spaceborne elbow manipulator. AIAA 86-0250, 1986.
54. Longman, R., Lindberg, R. and Zedd, M. Satellite-mounted robot manipulators - new kinematics and reaction compensation. Int. J. Robotics Res., 1987, 6(3), 87-103.
55. Yoshida, K. Dual arm coordination of a space freeflying robot. In Proceedings of IEEE International Conference on Robotics and Automation, 1992, pp. 899-904.
56. Murphy, S., Wen, S. and Saridis, G. Simulation of cooperating robot manipulators on a mobile platform. IEEE Trans. Robotics and Automn, 1991, 7(4), 468-477.
57. Mitsuskige, O. Motion control of the satellite mounted robot arm which assures satellite attitude stability. Acta Astronaut., 1997, 41(11), 739-750.
58. Nagata, T., Modi, V. and Matsuo, H. Dynamics and control of flexible multibody systems. Part I: general formulation with an order n forward dynamics. Acta Astronaut, 2001, 49(11), 581-594.
59. Nagata, T., Modi, V. and Matsuo, H. Dynamics and control of flexible multibody systems. Part II: simulation code and parametric studies with nonlinear control. Acta Astronaut., 2001, 49(11), 595-610.
60. Ellery, A. An Introduction to Space Robotics, Praxis-Springer Series on Astronomy and Space Sciences, 2000 (Praxis Publishers).
61. Gasbarri, P. A two dynamical approach to multibody force dynamics in the space environment. Acta Astronaut., 2002, 51(12), 831-842.
62. Krishnan, S. and Vadali, S. An inverse-free technique for attitude control of spacecraft using CMGs. Acta Astronaut., 1996, 39(6), 431-438.
63. Ellery, A. Systems design and control of a freeflying space robotic manipulator system (ATLAS) for in-orbit servicing operations. PhD thesis, Cranfield Institute of Technology (now Cranfield University), 1996.
64. Piper, G. and Kwatny, H. Complicated dynamics in spacecraft attitude control systems. J. Guidance. Control and Dynamics, 1992, 15(4), 825-831.
65. Clohessy, W. and Wiltshire, R. Terminal guidance system for satellite rendezvous. J. Aerospace Sci., 1960, 27, 653-658.
66. Denavit, J. and Hartenburg, R. Kinematics notation for lower pair mechanisms based on matrices. Trans. ASME, J. Appl. Mechanics, 1955, 77, 215-221.
67. Murray, R., Li, Z. and Sastry, S. A Mathematical Introduction to Robotic Manipulation, 1994 (CRC Press).
68. Ellery, A. Resolved motion control of space manipulators. In Proceedings of 45th IAF Congress, Tel Aviv, Israel, 1994, ST 94-W2-574.
69. Uchiyama, M. and Dauchez, P. Symmetric hybrid position/force control scheme for the coordination of two robots. In Proceedings of IEEE International Conference on Robotics and Automation, 1988, pp. 351-356.
70. Zheng, Y. and Luh, J. Optimal load distribution for two industrial robots handling a single object. In Proceedings of IEEE International Conference on Robotics and Automation, 1988, pp. 344-349.
71. Whitney, D. Mathematics of coordinated control of prosthetic arms and manipulators. Trans. ASME, Dynamic Syst. Measmt and Control, 1972, 122, 303-309.
72. Luh, J., Walker, M. and Paul, R. Resolved acceleration control of mechanical manipulators. IEEE Trans. Autom. Control, 1980, 25(3), 236-241.
73. Raibert, M. and Craig, J. Hybrid position/force control of manipulators. Trans. ASME, Energy Res. Technol., June 1981, 102, 126-133.
74. Zheng, Y. and Paul, R. Hybrid control of robot manipulators. In Proceedings of IEEE International Conference on Robotics and Automation, 1985, pp. 602-606.
75. Goldenberg, A. and Song, P. Principles for the design of position and force controllers for robot manipulators. Robotics and Autonom. Syst., 1997, 21, 263-277.
76. Paul, R. and Stevenson, C. Kinematics of robotic wrists. Int. J. Robotics Res., 1983, 2(1), 31-38.
77. Yoshikawa, T. Manipulability and redundancy control of robotic machines. In Proceedings of IEEE Conference on Robotics and Automation, 1985, pp. 1004-1009.
78. Oda, M. Attitude control experiments of a robot satellite. J. Spacecraft and Rockets, 2000, 37(6), 788-793.
79. Backes, P. and Tso, K. Autonomous single arm ORU changeout - strategies, control issues and implementation. Robotics and Autonom. Syst., 1990, 6, 221-241.
80. Landzettal, K., Brunner, B., Hirzinger, G., Lampariello, R., Schenker, G. and Stainmetz, B.-M. Unified ground control and programming methodology for space robotics applications-demonstration on ETS VII. In Proceedings of 3rd International Symposium on Robotics, Montreal, Canada. 14-17 May 2000.
81. Moya, M. and Seraji, H. Robot control systems: a survey. Robotics and Autonom. Syst., 1987, 3, 329-351.
82. Boutin, B., Misra, A. and Modi, V. Dynamics and control of variable geometry truss structures. Acta Astronaut., 1999, 45(12), 717-728.
83. Spong, M. Adaptive control of flexible joint manipulators: comments on two papers. Automatica, 1995, 31(4), 585-590.
84. Van Woerkom, P., Guelman, M. and Ehrenwald, L. Integrated adaptive control for space manipulators. Acta Astronaut., 1996, 38(3), 161-174.
85. Ehrenwald, L. and Guelman, M. Stability and convergence of integrated adaptive control for space manipulators. Robotics and Autonom. Syst., 1996. 19, 151-166.
86. Cornerstone-Carrol, V. and Wilking, N. Optimal control of a satellite-robot system using direct collocation with nonlinear programming. Acta Astronaut., 1995, 36(3), 149-162.
87. Abdullah, C. Survey of robust control for rigid robots. IEEE Control Syst., February 1991, 24-29.
88. Astrom, K. Adaptive feedback conrol. Proc. IEEE, 1987, 75(2), 185-217.
89. Xavier, C., Sun-Wook, K., Ingham, M., Miora, A. and Gilbert, J. Post-impact dynamics of two multi-body systems attempting docking/berthing. Acta Astronaut., 1997, 40(11), 759-769.
90. Waltz, D. On-Orbit Servicing of Space Systems, 1993 (Krieger, Florida).
91. McInnes, C. Optimum orbit selection for two-vehicle rendezvous. ESA J., 1992, 16, 447-454.