Journal
ADVANCES IN SPACE RESEARCH
Volume 66, Issue 7, Pages 1803-1817Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.asr.2020.06.022
Keywords
Grasp planning; Free-floating; Bezier curve; Real-coded genetic algorithm
Categories
Funding
- Science, Technology and Innovation Commission of Shenzhen Municipality [JCYJ20190806154412671]
- National Natural Science Foundation of China [61973256, 61690210, 61690211]
Ask authors/readers for more resources
Determining how to grasp a non-cooperative target by applying a space robot is still a challenging issue, especially when the target is tumbling in space. This paper presents an optimal grasp planning strategy for a kinematically redundant space manipulator to capture an arbitrarily rotating target, such as a dysfunctional satellite or a piece of space debris. The kinematics and dynamics of the non-cooperative target and the space robotic system are first introduced, which lays the foundation for constructing the grasp planning strategy. Subsequently, an optimal grasping time and the target's terminal motion states are determined with consideration of the robotic capability, the target's motion and the grasping direction. Furthermore, the joint trajectories are parametrized with the quintic Bezier curve, and the direct kinematics equations are employed to overcome the dynamics singularity issue. The grasp planner of the space robot is then transformed into a multi-constraint, multi-objective nonlinear optimization problem solved by an improved real-coded genetic algorithm (RGA). The proposed grasp planning scheme is immune to the singularity issue and generates an optimal robotic configuration for post-capture manipulation. Simulation results are presented for capturing a tumbling target using a seven-degree-of-freedom kinematically redundant manipulator mounted on a free-floating spacecraft, demonstrating the effectiveness of the proposed method. (c) 2020 COSPAR. Published by Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available