Two-Stage Trajectory Planning for Autonomous Deployment and Target Capture of Space Manipulators

No AccessEngineering NotesTwo-Stage Trajectory Planning for Autonomous Deployment and Target Capture of Space ManipulatorsYuanqing Liu, Xiaofeng Liu, Guoping Cai, Feng Xu and Shengyong TangYuanqing Liu https://orcid.org/0000-0002-2207-7602Shanghai Jiao Tong University, 200240 Shanghai, People’s Republic of China*Postdoctoral Fellow, State Key Laboratory of Ocean Engineering, Department of Engineering Mechanics; .Search for more papers by this author, Xiaofeng LiuShanghai Jiao Tong University, 200240 Shanghai, People’s Republic of China†Associate Professor, State Key Laboratory of Ocean Engineering, Department of Engineering Mechanics; (Co-Corresponding Author).Search for more papers by this author, Guoping CaiShanghai Jiao Tong University, 200240 Shanghai, People’s Republic of China‡Professor, State Key Laboratory of Ocean Engineering, Department of Engineering Mechanics; (Corresponding Author).Search for more papers by this author, Feng XuShanghai Institute of Aerospace System Engineering, 201109 Shanghai, People’s Republic of China§Senior Engineer; .Search for more papers by this author and Shengyong TangShanghai Institute of Aerospace System Engineering, 201109 Shanghai, People’s Republic of China¶Senior Engineer; .Search for more papers by this authorPublished Online:21 Feb 2023https://doi.org/10.2514/1.G007198SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations ShareShare onFacebookTwitterLinked InRedditEmail About References [1] Moghaddam B. M. and Chhabra R., “On the Guidance, Navigation and Control of In-Orbit Space Robotic Missions: A Survey and Prospective Vision,” Acta Astronautica, Vol. 184, July 2021, pp. 70–100. https://doi.org/10.1016/j.actaastro.2021.03.029 CrossrefGoogle Scholar[2] Misra G. and Bai X., “Optimal Path Planning for Free-Flying Space Manipulators via Sequential Convex Programming,” Journal of Guidance, Control, and Dynamics, Vol. 40, No. 11, 2017, pp. 3019–3026. https://doi.org/10.2514/1.G002487 LinkGoogle Scholar[3] Nanos K. and Papadopoulos E., “Avoiding Dynamic Singularities in Cartesian Motions of Free-Floating Manipulators,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 51, No. 3, 2015, pp. 2305–2318. https://doi.org/10.1109/TAES.2015.140343 CrossrefGoogle Scholar[4] Calzolari D., Lampariello R. and Giordano A. M., “Singularity Maps of Space Robots and Their Application to Gradient-Based Trajectory Planning,” Robotics: Science and Systems (RSS 2020), Inst. of Robotics and Mechatronics, Klagenfurt/Wörthersee, Germany, 2020, pp. 1–10. https://doi.org/10.15607/RSS.2020.XVI.015 Google Scholar[5] Gangapersaud R. A., Liu G. and de Ruiter A. H. J., “Detumbling a Non-Cooperative Space Target with Model Uncertainties Using a Space Manipulator,” Journal of Guidance, Control, and Dynamics, Vol. 42, No. 4, 2019, pp. 910–918. https://doi.org/10.2514/1.G003111 LinkGoogle Scholar[6] James F., Shah S. V., Singh A. K., Krishna K. M. and Misra A. K., “Reactionless Maneuvering of a Space Robot in Precapture Phase,” Journal of Guidance, Control, and Dynamics, Vol. 39, No. 10, 2016, pp. 2419–2425. https://doi.org/10.2514/1.G001828 LinkGoogle Scholar[7] Wang M., Luo J. and Walter U., “Novel Synthesis Method for Minimizing Attitude Disturbance of the Free-Floating Space Robots,” Journal of Guidance, Control, and Dynamics, Vol. 39, No. 3, 2016, pp. 693–702. https://doi.org/10.2514/1.G001219 Google Scholar[8] Rybus T., “Obstacle Avoidance in Space Robotics: Review of Major Challenges and Proposed Solutions,” Progress in Aerospace Sciences, Vol. 101, Aug. 2018, pp. 31–48. https://doi.org/10.1016/j.paerosci.2018.07.001 CrossrefGoogle Scholar[9] Misra G. and Bai X., “Task-Constrained Trajectory Planning of Free-Floating Space-Robotic Systems Using Convex Optimization,” Journal of Guidance, Control, and Dynamics, Vol. 40, No. 11, 2017, pp. 2857–2870. https://doi.org/10.2514/1.G002405 LinkGoogle Scholar[10] Seddaoui A. and Saaj C. M., “Collision-Free Optimal Trajectory Generation for a Space Robot Using Genetic Algorithm,” Acta Astronautica, Vol. 179, Feb. 2021, pp. 311–321. https://doi.org/10.1016/j.actaastro.2020.11.001 CrossrefGoogle Scholar[11] Cavenago F., Massari M., Giordano A. M. and Garofalo G., “Unexpected Collision Detection, Estimation, and Reaction for a Free-Flying Orbital Robot,” Journal of Guidance, Control, and Dynamics, Vol. 44, No. 5, 2021, pp. 967–982. https://doi.org/10.2514/1.G005585 LinkGoogle Scholar[12] Chu X., Hu Q. and Zhang J., “Path Planning and Collision Avoidance for a Multi-Arm Space Maneuverable Robot,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 54, No. 1, 2018, pp. 217–232. https://doi.org/10.1109/TAES.2017.2747938 CrossrefGoogle Scholar[13] Liu Y., Yu C., Sheng J. and Zhang T., “Self-collision Avoidance Trajectory Planning and Robust Control of a Dual-Arm Space Robot,” International Journal of Control, Automation and Systems, Vol. 16, No. 6, 2018, pp. 2896–2905. https://doi.org/10.1007/s12555-017-0757-z CrossrefGoogle Scholar[14] Crain A. and Ulrich S., “Nonlinear Optimal Trajectory Planning for Free-Floating Space Manipulators Using a Gauss Pseudospectral Method,” AIAA/AAS Astrodynamics Specialist Conference, AIAA Paper 2016-5272, AIAA, Reston, VA, 2016, pp. 217–232. https://doi.org/10.2514/6.2016-5272 Google Scholar[15] Aghili F., “Optimal Trajectories and Robot Control for Detumbling a Non-Cooperative Satellite,” Journal of Guidance, Control, and Dynamics, Vol. 43, No. 5, 2020, pp. 981–988. https://doi.org/10.2514/1.G004758 LinkGoogle Scholar[16] Lu P., “Convex-Concave Decomposition of Nonlinear Equality Constraints in Optimal Control,” Journal of Guidance, Control, and Dynamics, Vol. 44, No. 1, 2021, pp. 4–14. https://doi.org/10.2514/1.G005443 LinkGoogle Scholar[17] Liu Y., Liu X., Cai G. and Chen J., “Trajectory Planning and Coordination Control of a Space Robot for Detumbling a Flexible Tumbling Target in Post-Capture Phase,” Multibody System Dynamics, Vol. 52, July 2021, pp. 281–311. https://doi.org/10.1007/s11044-020-09774-6 CrossrefGoogle Scholar[18] Antonello A., Valverde A. and Tsiotras P., “Dynamics and Control of Spacecraft Manipulators with Thrusters and Momentum Exchange Devices,” Journal of Guidance, Control, and Dynamics, Vol. 42, No. 1, 2019, pp. 15–29. https://doi.org/10.2514/1.G003601 LinkGoogle Scholar[19] Fares C. and Hamam Y., “Collision Detection for Rigid Bodies: A State of the Art Review,” International Conference Graphicon 2005, GraphiCon Scientific Soc., Novosibirsk Akademgorodok, Russia, 2005, pp. 1–9, https://www.graphicon.org/html/2005/proceedings/papers/Fares.pdf. Google Scholar[20] Calafiore G. C., Gaubert S. and Possieri C., “Log-Sum-Exp Neural Networks and Posynomial Models for Convex and Log-Log-Convex Data,” IEEE Transactions on Neural Networks and Learning Systems, Vol. 31, No. 3, 2020, pp. 827–838. https://doi.org/10.1109/TNNLS.2019.2910417 Google Scholar[21] Xu R., Luo J. and Wang M., “Optimal Grasping Pose for Dual-Arm Space Robot Cooperative Manipulation Based on Global Manipulability,” Acta Astronautica, Vol. 183, June 2021, pp. 300–309. https://doi.org/10.1016/j.actaastro.2021.03.021 Google Scholar[22] MATLAB Global Optimization Toolbox, MathWorks, Chap. 3, 2021, https://www.mathworks.com/help/releases/R2021b/pdf_doc/gads/gads.pdf. Google Scholar[23] Patterson M. A. and Rao A. V., “GPOPS-II: A MATLAB Software for Solving Multiple-Phase Optimal Control Problems Using hp-Adaptive Gaussian Quadrature Collocation Methods and Sparse Nonlinear Programming,” ACM Transactions on Mathematical Software, Vol. 41, No. 1, 2014, pp. 1–37. https://doi.org/10.1145/2558904 CrossrefGoogle Scholar Previous article FiguresReferencesRelatedDetails What's Popular Volume 46, Number 6June 2023 CrossmarkInformationCopyright © 2023 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. All requests for copying and permission to reprint should be submitted to CCC at www.copyright.com; employ the eISSN 1533-3884 to initiate your request. See also AIAA Rights and Permissions www.aiaa.org/randp. TopicsApplied MathematicsComputing, Information, and CommunicationControl TheoryGeneral PhysicsGuidance, Navigation, and Control SystemsManipulatorsMathematical OptimizationOptimal Control TheoryRoboticsSpace Manipulator KeywordsFree Flying Space ManipulatorsOptimal ControlTrajectory OptimizationActive Debris RemovalNonlinear ProgrammingCollision AvoidanceMinimum Attitude DisturbanceSingularity AvoidanceMaximum ManipulabilityTarget CaptureAcknowledgmentThis work was supported by the National Natural Science Foundation of China (Grant Nos. 11772187 and 12172215).PDF Received23 August 2022Accepted16 January 2023Published online21 February 2023