A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots

Lei Yan, Bingshan Hu, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Space debris removal is very important for ensuring space safety and further space exploration. However, most of the debris is tumbling in space and its corresponding large mass and inertia result in non-negligible momentum. During the detumbling manipulation of large-momentum space debris, there will be large base disturbance force which makes the control of the floating base of space robots much more challenging. In this paper, we propose a trajectory optimization framework for stabilizing a tumbling object using a dual-arm space robot. In this proposed trajectory optimization framework, only the object dynamics is used to minimize the detumbling time and base disturbance during the detumbling manipulation, while the optimal dual-arm motion is generated from the object motion by considering the closed-chain constraint. The objective function of trajectory optimization is defined as weighted detumbling time and base disturbance force to save energy of the dual-arm space robot for further manipulation. In order to verify the proposed method, a typical simulation of dual-arm space robot stabilizing a tumbling target is carried out.
Original languageEnglish
Title of host publicationIntelligent Robotics and Applications
Subtitle of host publication14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part IV
EditorsXin-Jun Liu, Zhenguo Nie, Jingjun Yu, Fugui Xie, Rui Song
Place of PublicationCham
PublisherSpringer International Publishing AG
Pages396-404
Number of pages9
ISBN (Electronic)978-3-030-89092-6
ISBN (Print)978-3-030-89091-9
DOIs
Publication statusPublished - 20 Oct 2021
EventThe 14th International Conference on Intelligent Robotics and Applications 2022 - Yantai, China
Duration: 22 Oct 202125 Oct 2021
Conference number: 14
https://www.icira2021.org/index.php

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Cham
Volume13016
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceThe 14th International Conference on Intelligent Robotics and Applications 2022
Abbreviated titleICIRA 2021
Country/TerritoryChina
CityYantai
Period22/10/2125/10/21
Internet address

Keywords / Materials (for Non-textual outputs)

  • Trajectory optimization
  • Tumbling target
  • Coordinate planning

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