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Minimum Base Disturbance Control of Free-Floating Space Robot during Visual Servoing Pre-capturing Process

Published online by Cambridge University Press:  12 July 2019

Xiaoyu Zhao ,
Zongwu Xie ,
Haitao Yang  and
Jiarui Liu
Xiaoyu Zhao
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Zongwu Xie*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Haitao Yang
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Jiarui Liu
Affiliation:
Vanke Meisha Academy, Shenzhen, China
*
*Corresponding author. E-mail: xiezongwu@hit.edu.cn
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Summary

During visual servoing space activities, the attitude of free-floating space robot may be disturbed due to dynamics coupling between the satellite base and the manipulator. And the disturbance may cause communication interruption between space robot and control center on earth. However, it often happens that the redundancy of manipulator is not enough to fully eliminate this disturbance. In this paper, a method named off-line optimizing visual servoing algorithm is innovatively proposed to minimize the base disturbance during the visual servoing process where the degrees-of-freedom of the manipulator is not enough for a zero-reaction control. Based on the characteristic of visual servoing process and the robot system modeling, the optimal control method is applied to achieve the optimization, and a pose planning method is presented to achieve a second-order continuity of quaternion getting rid of the interruption caused by ambiguity. Then simulations are carried out to verify the method, and the results show that the robot is controlled with optimized results during visual servoing process and the joint trajectories are smooth.

Keywords

Free-floating space robotDual-arm capturingMinimum base disturbanceVisual servoingOptimal control
Type
Articles
Information
Robotica , Volume 38 , Issue 4 , April 2020 , pp. 652 - 668
Copyright
© Cambridge University Press 2019 

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