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Trajectory Generation for Flexible-Joint Space Manipulators.

David S Carabis1, John T Wen2

  • 1Department of Mechanical, Aerospace, and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, NY, United States.

Frontiers in Robotics and AI
|April 18, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a new trajectory planning method for space manipulator arms with flexible joints. The model-based approach optimizes movement by considering joint speed, torque, and base actuation limits, improving autonomous operations.

Keywords:
flexible joint armfree-flying basemanipulationspace robottrajectory generation

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Area of Science:

  • Robotics
  • Aerospace Engineering
  • Control Systems

Background:

  • Space manipulator arms face challenges with joint flexibility and limited motor torque.
  • These limitations are amplified when manipulating massive objects in future space missions like satellite servicing.
  • Current on-orbit operations rely on astronaut visual feedback, which is impractical for Earth-based teleoperation due to time delays.

Purpose of the Study:

  • To develop an autonomous trajectory planning methodology for flexible-joint space manipulators.
  • To address limitations in joint speed, motor torque, and base actuation for enhanced robotic capabilities.
  • To minimize total trajectory time for efficient autonomous space operations.

Main Methods:

  • A model-based trajectory generation methodology was developed.
  • The methodology incorporates constraints on joint speed, motor torque, and base actuation.
  • Simulations and physical experiments with a single-joint robot were conducted.

Main Results:

  • The proposed methodology effectively generates trajectories for flexible-joint space manipulators.
  • Both computer simulations and physical experiments validated the efficacy of the approach.
  • The method successfully mitigates issues related to joint flexibility and limited motor torque.

Conclusions:

  • The developed model-based trajectory generation is effective for autonomous space manipulator operations.
  • This methodology enhances robotic capabilities for complex space missions by overcoming hardware limitations.
  • Autonomous trajectory planning is crucial for future space exploration and servicing.