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

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Motion Control of Electrical Driven Free-floating Space Manipulator

In this paper, motion control of electrical driven free floating space manipulator is considered.The dynamics of the free-floating space manipulator are derived based on Virtual Manipulator Approach(VMA),which allows us to develop controller in joint space. Then a proportional plus derivative feedback control system with disturbance observer(DOB)are employed to compensate joint coupling,unmodel...

Motion Control of a Robot Manipulator in Free Space Based on Model Predictive Control

Manipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

Impact analysis and post-impact motion control issues of a free-floating Space robot subject to a force impulse

This article presents impact dynamic analysis of a free-floating space robot, subject to a force impulse at the hand. We study the joint and the base reactions in terms of finite velocity changes and clarify their role for the post-impact motion behavior of the robot. The analysis makes use of a jointspace orthogonal decomposition procedure involving the so called reaction null space. The artic...