Modeling and control of free flying flexible joint coordinated robots

A system consisting of several flexible joint robots mounted on a spacecraft with closed kinematic chain constraints is studied in this paper. First, the kinematics and dynamics of such coordinated space robotic systems in the presence of joint flexibility and with closed kinematic constraints are established. Using the singular perturbation theory, the entire free-flying coordinated space robotic system is decomposed into two subsystems, one the slow subsystem governing the object position and internal forces, the other the fast subsystem governing the joint elastic forces. A coordinated controller consisting of a position and internal force controller for the slow subsystem and a joint elastic force controller for the fast subsystem is designed to distribute the load between the coordinated flexible joint robots and to control the object position and internal forces as well as the joint elastic forces.

[1]  Tsuneo Yoshikawa,et al.  Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object , 1993, Int. J. Robotics Res..

[2]  Yau-Zen Chang,et al.  On the adaptive control of flexible joint robots , 1992, Autom..

[3]  Suguru Arimoto,et al.  Cooperative motion control of multiple robot arms or fingers , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[4]  J. Y. S. Luh,et al.  Constrained Relations between Two Coordinated Industrial Robots for Motion Control , 1987 .

[5]  Yasuhiro Masutani,et al.  Sensory feedback control for space manipulators , 1989 .

[6]  Yan-Ru Hu,et al.  Dynamic control of free-flying coordinated space robots , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[7]  Steven Dubowsky,et al.  Coordinated manipulator/spacecraft motion control for space robotic systems , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[8]  Steven Dubowsky,et al.  The kinematics, dynamics, and control of free-flying and free-floating space robotic systems , 1993, IEEE Trans. Robotics Autom..

[9]  Kazuya Yoshida,et al.  Dual arm coordination in space free-flying robot , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[10]  John T. Wen,et al.  Motion and force control of multiple robotic manipulators , 1992, Autom..

[11]  Tsuneo Yoshikawa,et al.  Dynamics and Stability in Coordination of Multiple Robotic Mechanisms , 1989, Int. J. Robotics Res..

[12]  S. Dubowsky,et al.  Dynamic Singularities in Free-floating Space Manipulators , 1993 .

[13]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .

[14]  Hassan K. Khalil,et al.  Singular perturbation methods in control : analysis and design , 1986 .

[15]  Petar V. Kokotovic,et al.  An integral manifold approach to the feedback control of flexible joint robots , 1987, IEEE J. Robotics Autom..

[16]  A. Bejczy,et al.  New nonlinear control algorithms for multiple robot arms , 1988 .

[17]  Khashayar Khorasani.  Adaptive control of flexible joint robots , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[18]  Bruno Siciliano,et al.  A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators , 1988, Int. J. Robotics Res..

[19]  S. Hayati.  Hybrid position/Force control of multi-arm cooperating robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[20]  Y. Umetani,et al.  Continuous Path Control of Space Manipulators Mounted on OMV , 1987 .

[21]  Wayne J. Book,et al.  Structural flexibility of motion systems in the space environment , 1993, IEEE Trans. Robotics Autom..

[22]  John T. Wen,et al.  Simulation of cooperating robot manipulators on a mobile platform , 1990, IEEE Trans. Robotics Autom..

[23]  Steven Dubowsky,et al.  The Kinematics and Dynamics of Space Manipulators: The Virtual Manipulator Approach , 1990, Int. J. Robotics Res..

[24]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .