Modeling and Self-Learning Soft-Grasp Control for Free-Floating Space Manipulator During Target Capturing Using Variable Stiffness Method

被引：22

作者：

Chu, Ming ^{[1
]}

Wu, Xingyu ^{[1
]}

机构：

[1] Beijing Univ Posts & Telecommun, Automat Sch, Beijing 100876, Peoples R China

来源：

IEEE ACCESS | 2018年 / 6卷

基金：

中国国家自然科学基金;

关键词：

Coupling angular momentum; post-impact control; variable stiffness; cellular differential evolution; adaptive backstepping; AUTONOMOUS ROBOTIC CAPTURE; CONFIGURATION; DYNAMICS; SYSTEMS;

D O I：

10.1109/ACCESS.2017.2788400

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

During target capturing operation, the changes in the dynamics parameters of a free-floating space manipulator degrade the performance of the base attitude stabilization. This paper presents a new self-learning soft-grasp control algorithm based on the variable stiffness technology. First, the dynamic model of variable stiffness joint space manipulator system is established. Simultaneously, the detailed dynamic analysis of pre-impact and post-impact stages is carried out. Second, a new soft-grasp control strategy utilizing cellular differential evolution algorithm combined opposition-based learning with orthogonal crossover is employed to minimize the base angular momentum. Its principle is to solve the optimal stiffness value of the variable stiffness joint to realize desired buffering. Thereafter, we put forward an adaptive backstepping sliding mode control method to track the actual joint stiffness. Finally, the proposed method is applied to a two-degree of freedom planar free-floating space manipulator and the simulation results verify the effectiveness.

引用

页码：7044 / 7054

页数：11

共 32 条

[1]

Aghili F, 2009, IEEE INT CONF ROBOT, P362

[2] Preimpact configuration analysis of a dual-arm space manipulator with a prismatic joint for capturing an object [J].

Cong, Pei-Chao ;

Zhang, Xin .

ROBOTICA, 2013, 31 :853-860

[3]

Dimitrov D. N., 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), P3345

[4]

Dimitrov D. N., 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), P3333

[5] A review of space robotics technologies for on-orbit servicing [J].

Flores-Abad, Angel ;

Ma, Ou ;

Pham, Khanh ;

Ulrich, Steve .

PROGRESS IN AEROSPACE SCIENCES, 2014, 68 :1-26

[6]

Grebenstein Markus, 2011, IEEE International Conference on Robotics and Automation, P3175

[7]

Haitao Shui, 2010, 2010 8th IEEE International Conference on Control and Automation (ICCA 2010), P471, DOI 10.1109/ICCA.2010.5524188

[8] Step Length and Velocity Control of a Dynamic Bipedal Walking Robot With Adaptable Compliant Joints [J].

Huang, Yan ;

Vanderborght, Bram ;

Van Ham, Ronald ;

Wang, Qining ;

Van Damme, Michael ;

Xie, Guangming ;

Lefeber, Dirk .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2013, 18 (02) :598-611

[9] A Novel Actuator with Adjustable Stiffness (AwAS) [J].

Jafari, Amir ;

Tsagarakis, Nikos G. ;

Vanderborght, Bram ;

Caldwell, Darwin G. .

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, :4201-4206

[10] Autonomous robotic capture of non-cooperative target using visual servoing and motion predictive control [J].

Larouche, Benoit P. ;

Zhu, Zheng H. .

AUTONOMOUS ROBOTS, 2014, 37 (02) :157-167

← 1 2 3 4 →