Abstract
A review of trends in space robotics identifies a promising class of assembly and service robotic space modules (ASRSM). This paper considers the topical problem of automating the assembly of large space objects. For certain ASRSM operations that are of practical interest, engineers can apply a design model comprising a moving base, a handler, and a payload. A massless single-DoF handler is an important special case. It is shown that in the absence of forces external to the system, the payload displacement with respect to the base can be described by an independent differential equation derived by Routhian formalism. In the common case where the angular momentum of the original system is non-zero, this equation is the dynamics equation for some non-linear oscillatory system, which, using the traditional terminology of analytical mechanics, we referred to as a reduced system and is seen as a controllable object. The proposed approach is convenient for studying the Eigen movement of a system by the internal degree of freedom, which movement is caused by the non-zero values both on the (neglected) cyclic axis, and on the hinged positional axis. Using these movements to synthesize the controls makes sense from the point of view of an important principle applicable to robotic movement arrangements; the principle consists in harmonizing the free and forced movements of the handler. The paper considers a modeling problem, which is of practical interest in its own right. The results can be generalized to apply to a general case of spatial motion of a system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Angel Flores-Abad, A., Ma, O., Pham, K., Ulrich, S.: A review of space robotics technologies for on-orbit servicing. Prog. Aerosp. Sci. 68, 1–26 (2014). https://doi.org/10.1016/j.paerosci.2014.03.002
Vovk, A.V., Legostaev, V.P., Lopota, V.A.: Promising concepts and technologies for creating space technology based on mechatronics and microsystem technology. In: Proceedings of the Academy of Sciences, vol. 3, pp. 3–11. Power Industry (2011) (in Russian)
Lysyj, S.R.: Scientific and technical problems and prospects for the development of special-purpose (cosmic) robotics. In: Extreme Robotics. Proceedings of the International Scientific and Technical Conference, pp. 29–32. Politekhnika-Servis, Saint Petersburg (2015) (in Russian)
Moosavian, S., Ali, A., Papadopoulos, E.: Free-flying robots in space: an overview of dynamics modeling, planning and control. Robotica 25, 537–547 (2007). https://doi.org/10.1017/S0263574707003438
Rutkovskiy, V.Y., Sukhanov, V.M., Glumov, V.M.: Control of a multimode space robot when performing manipulation operations in the external environment. Autom. Remote. Control. (11), 96–111 (2010) (in Russian)
Artemenko, YN., Karpenko, A.P., Belonozhko, P.P.: Features of manipulator dynamics modeling into account a movable platform. In: Gorodetskiy, A.E. (ed.) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol. 49, pp. 177–190. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-27547-5_17
Artemenko, YN., Karpenko, A.P., Belonozhko, P.P.: Synthesis of control of hinged bodies relative motion ensuring move of orientable body to necessary absolute position. In: Gorodetskiy, A.E., Kurbanov, V.G. (eds.) Smart Electromechanical Systems: The Central Nervous System. Studies in Systems, Decision and Control, vol. 95, pp. 231–239. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-53327-8_16
Belonozhko, P.P.: Methodical features of acquisition of independent dynamic equation of relative movement of one-degree of freedom manipulator on movable foundation as control object. In: Gorodetskiy, A.E., Kurbanov, V.G. (eds.) Smart Electromechanical Systems: The Central Nervous System. Studies in Systems, Decision and Control, vol. 95, pp. 261–270. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-53327-8_19
Artemenko, Y.N., Karpenko, A.P., Belonozhko, P.P.: Synthesis of the program motion of a robotic space module acting as the element of an assembly and servicing system for emerging orbital facilities. In: Gorodetskiy, A.E., Tarasova, I.L. (eds.) Smart Electromechanical Systems: Group Interaction. Studies in Systems, Decision and Control, vol. 174, pp. 217–227. Springer, Cham (2019). ISBN: 978-3-319-99759-9_18
Belonozhko P.P.: Robotic assembly and servicing space module peculiarities of dynamic study of given system. In: Gorodetskiy, A.E., Tarasova, I.L. (eds.) Smart Electromechanical Systems: Group Interaction. Studies in Systems, Decision and Control, vol. 174, pp. 287–296. Springer, Cham (2019). ISBN 978-3-319-99759-9_23
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Belonozhko, P.P. (2020). Moving-Base Space Robots—Applying Eigen-Dynamics of a Reduced System to Synthesize Controls. In: Kravets, A. (eds) Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms. Studies in Systems, Decision and Control, vol 272. Springer, Cham. https://doi.org/10.1007/978-3-030-37841-7_14
Download citation
DOI: https://doi.org/10.1007/978-3-030-37841-7_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-37840-0
Online ISBN: 978-3-030-37841-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)