Inverse kinematics problem for 6-DOF space manipulator based on the theory of screws

Space manipulators will play a significant role in the maintenance and repair of space stations and satellites, and other space missions. The inverse kinematics is an important problem in the automatic control of space manipulator. The paper presents a novel method for solving the inverse kinematics problem of 6-DOF space manipulator based on the theory of screws. To solve the inverse kinematics problem, we formulate the kinematics equations of 6-DOF space manipulator and study a novel method. The method can give the analytic solutions of the inverse kinematics problem for 6-DOF space manipulator. The virtual prototyping technology is used to model the 6-dof mechanical arm system of Free-Flying space Robot (FFR) and simulate the space manipulator system, it shows the validity of the method which is presented in this paper. Compared with other methods, the method based on the theory of screws just establish two coordinates, is applicable to real-time control, allows one to directly choose the desired configuration from the multi-solutions and its geometry meaning is obvious.

[1]  R. Paul,et al.  Kinematic control equations for simple manipulators , 1978, 1978 IEEE Conference on Decision and Control including the 17th Symposium on Adaptive Processes.

[2]  Cheng Li,et al.  A Robotic Testbed for Positioning and Attitude Accuracy Test of Space Manipulator , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Kazuya Yoshida,et al.  Control of a space manipulator for autonomous target capture - ETS-VII flight experiments and analysis , 2000 .

[4]  Richard W. Longman,et al.  Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite , 1993 .

[5]  Gregory Z. Grudic,et al.  Iterative inverse kinematics with manipulator configuration control , 1993, IEEE Trans. Robotics Autom..

[6]  Dinesh Manocha,et al.  Efficient inverse kinematics for general 6R manipulators , 1994, IEEE Trans. Robotics Autom..

[7]  Stefano Stramigioli,et al.  Geometry and Screw Theory for Robotics , 2001 .

[8]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[9]  Klaus Landzettel,et al.  Multisensory shared autonomy and tele-sensor-programming-Key issues in the space robot technology experiment ROTEX , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[10]  C.s.g. Lee,et al.  Geometric Approach in Solving Inverse Kinematics of PUMA Robots , 1984, IEEE Transactions on Aerospace and Electronic Systems.

[11]  Kazuya Yoshida,et al.  Space Robot Dynamics and Control: a Historical Perspective , 2000, J. Robotics Mechatronics.

[12]  Kazuya Yoshida.  Space Robot Dynamics and Control: To Orbit, From Orbit, and Future , 2000 .

[13]  Gianfranco Visentin,et al.  Robotics for geostationary satellite servicing , 1998, Robotics Auton. Syst..

[14]  R. Paul,et al.  Computationally Efficient Kinematics for Manipulators with Spherical Wrists Based on the Homogeneous Transformation Representation , 1986 .

[15]  Steven Dubowsky,et al.  On the dynamics of manipulators in space using the virtual manipulator approach , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.