Implementation of stiff and compliant trajectory control for joint of space manipulation systems

Implementation of stiff and compliant trajectory control for joint of space manipulation systems

Igor V. Shardyko
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, ORCID: 0000-0003-0622-9896, This email address is being protected from spambots. You need JavaScript enabled to view it.

Andrey N. Yusupov
PhD in Biology, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Senior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, ORCID: 0000-0001-5085-8935, This email address is being protected from spambots. You need JavaScript enabled to view it.


Received 31 July 2018

Abstract
In this paper the implementation of motion along required trajectory for manipulation systems and their joints is considered. The joint's control schemes for both stiff and compliant control of motion in a trajectory are addressed. The capabilities of data transmission links are analyzed. This paper suggests the structure of two-layer trajectory control implementation with trajectory approximation on both levels as well as the algorithms of computation tasks division between control system components in order to minimize the computational loads on each component and also to make the traffic as low as possible. The workability of suggested techniques is proved by experiment on trajectory executing by manipulation system in different control modes and load conditions.

Key words
Robot, robotic system, manipulator, trajectory control, impedance control, reliability.

DOI
https://doi.org/10.31776/RTCJ.6408

Bibliographic description
Shardyko, I. and Yusupov, A. (2018). Implementation of stiff and compliant trajectory control for joint of space manipulation systems. Robotics and Technical Cybernetics, 4(21), pp.60-67.

UDC identifier:
007.52:621.865.8:681.58

References

  1. McGregor, R. and Oshinowo, L. (2001). Flight 6A: Deployment and checkout of the space station remote manipulator system (SSRMS). In: Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space: i-SAIRAS 2001.
  2. Mukherji, R., Rey, D., Stieber, M. and Lymer, J. (2001). Special Purpose dexterous manipulator (SPDM) advanced control features and development test results. In: Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space: i-SAIRAS 2001.
  3. Wakabayashi, Y., Morimoto, H., Satoh, N., Hayashi, M., Aiko, Y. and Suzuki, M. (2002). Performance of japanese robotic arms of the international space station. In: Proceedings of the 15th Triennial World Congress.
  4. Shardyko, I.V. (2016). Osobennosti matematicheskogo opisaniya manipulyatsionnoy sistemy kontrolya metalla patrubkov verhnego bloka [On mathematical description of manipulation system for the inspection of metal surface of the upper block pipes]. In: Proceedings of Extreme Robotics. Saint-Petersburg: Politehnika-Servis Publ., pp. 339 – 343.
  5. Dalyaev, I.Yu. and Shardyko, I.V. (2016). Maketny obrazets manipulyatsionnoy sistemy servisnogo kosmicheskogo apparata [Experimental model of a manipulator for on-orbit servicing spacecraft]. In: Proceedings of Extreme Robotics. Saint-Petersburg: AP4Print Publ., pp. 411 - 415.
  6. Shardyko, I., Dalyaev, I. and Titov, V. (2017). A force-controlled robotic system for a servicing spacecraft: concept design and development testing. In: Proceedings of the 3rd International Academy of Astronautics Conference on Dynamics and Control of Space Systems (DyCoSS), pp. 1077 – 1085.
  7. Dalyaev, I.Yu., Chizhevsky, R.A., Truts, A.A. and Sergeev, A.V. (2017). Konstruktivnye osobennosti mobilnogo robota dlya raboty na vneshney poverhnosti MKS. [Design features of mobile robot for work on the ISS external surface]. In: Proceedings of the XII scientific-practical conference «Manned space flights». Zvyozdny gorodok: Redaktsionno-izdatelsky otdel FGBU «Nauchno-issledovatelsky ispytatelny tsentr podgotovki kosmonavtov imeni Yu.A. Gagarina» Publ., pp.197-199.
  8. Biagotti, L. and Melchiorri, C. (2008). Trajectory Planning for Automatic Machines and Robots. 514 p.
  9. Shardyko, I.V. and Titov, V.V. (2017). Chastny sluchay resheniya obratnoy zadachi kinematiki shestistepennogo manipulyatora I metodika bystrogo resheniya traektornoy zadachi v prostranstve obobschyonnyh koordinat [A closed-form solution of IK task for a 6-DoF manipulator with pitch axes offset and a technique of fast joint space trajectory computation]. In: Proceedings of Extreme Robotics. Saint-Petersburg: IPC OOO Politehnika-Print Publ., pp.23–29.
  10. De Luca, A. and Mattone, R. (2005). Sensorless robot collision detection and hybrid force/motion control. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation.
  11. Dalyaev, I. and Zarutsky, N. (2016). Razrabotka komponentov dlya otechestvennyh robototehnicheskih system [Component development for domestic robotic systems]. Robotics and Technical Cybernetics, 4 (13), pp. 64-70.
  12. Spassky, B., Titov, V. and Shardyko, I. (2018) . Myagkaya robototehnika v kooperativnyh zadachah: sostoyaniye I perspektivy razvitiya [Soft robotics in cooperative tasks: state of the art and development trends]. Robotics and Technical Cybernetics, 1 (18), pp. 14-25.
  13. Hogan, Т. (1985). Impedance control - An approach to manipulation. I - Theory. II - Implementation. III – Applications. ASME Transactions Journal of Dynamic Systems and Measurement Control B, 107, pp. 1–24.
  14. Titov, V., Shardyko, I. and Isaenko, S. (2014). Force-torque control implementation for 2 DoF manipulator. Procedia Engineering, 69, pp. 1232-1241.
Editorial office address: 21, Tikhoretsky pr., Saint-Petersburg, Russia, 194064, tel.: +7(812) 552-13-25 e-mail: zheleznyakov@rtc.ru