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

Lei Yan; Bingshan Hu; Sethu Vijayakumar

doi:10.1007/978-3-030-89092-6_36

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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 language	English
Title of host publication	Intelligent Robotics and Applications
Subtitle of host publication	14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part IV
Editors	Xin-Jun Liu, Zhenguo Nie, Jingjun Yu, Fugui Xie, Rui Song
Place of Publication	Cham
Publisher	Springer International Publishing AG
Pages	396-404
Number of pages	9
ISBN (Electronic)	978-3-030-89092-6
ISBN (Print)	978-3-030-89091-9
DOIs	https://doi.org/10.1007/978-3-030-89092-6_36
Publication status	Published - 20 Oct 2021
Event	The 14th International Conference on Intelligent Robotics and Applications 2022 - Yantai, China Duration: 22 Oct 2021 → 25 Oct 2021 Conference number: 14 https://www.icira2021.org/index.php

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer Cham
Volume	13016
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	The 14th International Conference on Intelligent Robotics and Applications 2022
Abbreviated title	ICIRA 2021
Country/Territory	China
City	Yantai
Period	22/10/21 → 25/10/21
Internet address	https://www.icira2021.org/index.php

Keywords

Trajectory optimization
Tumbling target
Coordinate planning

Access to Document

10.1007/978-3-030-89092-6_36Licence: All Rights Reserved

https://link.springer.com/chapter/10.1007/978-3-030-89092-6_36Licence: All Rights Reserved

Future AI and Robotics for Space (FAIR-SPACE)
Vijayakumar, S. & Li, Z.
EPSRC
1/10/17 → 31/03/22
Project: Research

Cite this

Yan, L., Hu, B., & Vijayakumar, S. (2021). A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots. In X-J. Liu, Z. Nie, J. Yu, F. Xie, & R. Song (Eds.), Intelligent Robotics and Applications: 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part IV (pp. 396-404). (Lecture Notes in Computer Science; Vol. 13016). Springer International Publishing AG. https://doi.org/10.1007/978-3-030-89092-6_36

Yan, Lei ; Hu, Bingshan ; Vijayakumar, Sethu. / A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots. Intelligent Robotics and Applications: 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part IV. editor / Xin-Jun Liu ; Zhenguo Nie ; Jingjun Yu ; Fugui Xie ; Rui Song. Cham : Springer International Publishing AG, 2021. pp. 396-404 (Lecture Notes in Computer Science).

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title = "A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots",

abstract = "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.",

keywords = "Trajectory optimization, Tumbling target, Coordinate planning",

author = "Lei Yan and Bingshan Hu and Sethu Vijayakumar",

year = "2021",

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doi = "10.1007/978-3-030-89092-6_36",

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booktitle = "Intelligent Robotics and Applications",

address = "Switzerland",

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Yan, L, Hu, B & Vijayakumar, S 2021, A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots. in X-J Liu, Z Nie, J Yu, F Xie & R Song (eds), Intelligent Robotics and Applications: 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part IV. Lecture Notes in Computer Science, vol. 13016, Springer International Publishing AG, Cham, pp. 396-404, The 14th International Conference on Intelligent Robotics and Applications 2022, Yantai, China, 22/10/21. https://doi.org/10.1007/978-3-030-89092-6_36

A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots. / Yan, Lei; Hu, Bingshan; Vijayakumar, Sethu.

Intelligent Robotics and Applications: 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part IV. ed. / Xin-Jun Liu; Zhenguo Nie; Jingjun Yu; Fugui Xie; Rui Song. Cham : Springer International Publishing AG, 2021. p. 396-404 (Lecture Notes in Computer Science; Vol. 13016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots

AU - Yan, Lei

AU - Hu, Bingshan

AU - Vijayakumar, Sethu

N1 - Conference code: 14

PY - 2021/10/20

Y1 - 2021/10/20

N2 - 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.

AB - 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.

KW - Trajectory optimization

KW - Tumbling target

KW - Coordinate planning

U2 - 10.1007/978-3-030-89092-6_36

DO - 10.1007/978-3-030-89092-6_36

M3 - Conference contribution

SN - 978-3-030-89091-9

T3 - Lecture Notes in Computer Science

SP - 396

EP - 404

BT - Intelligent Robotics and Applications

A2 - Liu, Xin-Jun

A2 - Nie, Zhenguo

A2 - Yu, Jingjun

A2 - Xie, Fugui

A2 - Song, Rui

PB - Springer International Publishing AG

CY - Cham

T2 - The 14th International Conference on Intelligent Robotics and Applications 2022

Y2 - 22 October 2021 through 25 October 2021

ER -

Yan L, Hu B, Vijayakumar S. A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots. In Liu X-J, Nie Z, Yu J, Xie F, Song R, editors, Intelligent Robotics and Applications: 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part IV. Cham: Springer International Publishing AG. 2021. p. 396-404. (Lecture Notes in Computer Science). doi: 10.1007/978-3-030-89092-6_36

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

Abstract

Publication series

Conference

Keywords

Access to Document

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Projects

Future AI and Robotics for Space (FAIR-SPACE)

Cite this