A free-floating space robot equipped with multiple reconfigurable manipulators is designed and investigated in this paper. Lockable passive cylindrical joints (PCJs) are utilized to make the manipulator have the ability of changing its length and twisted angle. Each cylindrical joint, connecting two adjacent rigid links, has no embedded actuators but a brake mechanism. Normally, the mechanism is locked during the operation. When in the reconfiguration stage, two manipulators grasp each other to form a closed loop. Then one PCJ is unlocked, whose relative rotation and translation can be changed by the active torques at other joints. This system is a typical space multibody system. The dynamics of the space robot with unlocked cylindrical joints and a closed structural loop is investigated. The equations of motion are derived through Maggi–Kane's method. The obtained mathematical model is free of multipliers, which makes it suitable for controller design. A trajectory planning algorithm capable of avoiding the configuration singularity of the manipulators is proposed. A slide mode controller embedded with an extended state observer (ESO) is designed for the trajectory tracking control. Numerical simulations demonstrate the effectiveness of the trajectory planning and control strategy for the reconfiguration process.
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September 2015
Research-Article
Dynamics and Trajectory Planning for Reconfigurable Space Multibody Robots
Quan Hu,
Quan Hu
School of Aerospace Engineering,
Beijing Institute of Technology,
Beijing 100081, China
e-mail: huquan2690@bit.edu.cn
Beijing Institute of Technology,
Beijing 100081, China
e-mail: huquan2690@bit.edu.cn
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Jingrui Zhang
Jingrui Zhang
Professor
School of Aerospace Engineering,
Beijing Institute of Technology,
Beijing 100081, China
e-mail: zhangjingrui@bit.edu.cn
School of Aerospace Engineering,
Beijing Institute of Technology,
Beijing 100081, China
e-mail: zhangjingrui@bit.edu.cn
Search for other works by this author on:
Quan Hu
School of Aerospace Engineering,
Beijing Institute of Technology,
Beijing 100081, China
e-mail: huquan2690@bit.edu.cn
Beijing Institute of Technology,
Beijing 100081, China
e-mail: huquan2690@bit.edu.cn
Jingrui Zhang
Professor
School of Aerospace Engineering,
Beijing Institute of Technology,
Beijing 100081, China
e-mail: zhangjingrui@bit.edu.cn
School of Aerospace Engineering,
Beijing Institute of Technology,
Beijing 100081, China
e-mail: zhangjingrui@bit.edu.cn
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received September 15, 2014; final manuscript received June 30, 2015; published online July 30, 2015. Assoc. Editor: Ettore Pennestri.
J. Mech. Des. Sep 2015, 137(9): 092304 (12 pages)
Published Online: July 30, 2015
Article history
Received:
September 15, 2014
Revision Received:
June 30, 2015
Citation
Hu, Q., and Zhang, J. (July 30, 2015). "Dynamics and Trajectory Planning for Reconfigurable Space Multibody Robots." ASME. J. Mech. Des. September 2015; 137(9): 092304. https://doi.org/10.1115/1.4031055
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