Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator
Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete proper...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Mu, Zonggao [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2017 |
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| Schlagwörter: |
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| Anmerkung: |
© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 |
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| Übergeordnetes Werk: |
Enthalten in: International Journal of Control, Automation and Systems - Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009, 15(2017), 2 vom: 08. März, Seite 815-826 |
|---|---|
| Übergeordnetes Werk: |
volume:15 ; year:2017 ; number:2 ; day:08 ; month:03 ; pages:815-826 |
| Links: |
|---|
| DOI / URN: |
10.1007/s12555-015-0455-7 |
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SPR026433397 |
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| 520 | |a Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. | ||
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10.1007/s12555-015-0455-7 doi (DE-627)SPR026433397 (SPR)s12555-015-0455-7-e DE-627 ger DE-627 rakwb eng Mu, Zonggao verfasserin aut Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. Active debris removal (dpeaa)DE-He213 multiple moving obstacles (dpeaa)DE-He213 obstacle avoidance (dpeaa)DE-He213 redundant manipulator (dpeaa)DE-He213 space robot (dpeaa)DE-He213 Xu, Wenfu aut Liang, Bin aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 15(2017), 2 vom: 08. März, Seite 815-826 (DE-627)SPR026303256 nnns volume:15 year:2017 number:2 day:08 month:03 pages:815-826 https://dx.doi.org/10.1007/s12555-015-0455-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 15 2017 2 08 03 815-826 |
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10.1007/s12555-015-0455-7 doi (DE-627)SPR026433397 (SPR)s12555-015-0455-7-e DE-627 ger DE-627 rakwb eng Mu, Zonggao verfasserin aut Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. Active debris removal (dpeaa)DE-He213 multiple moving obstacles (dpeaa)DE-He213 obstacle avoidance (dpeaa)DE-He213 redundant manipulator (dpeaa)DE-He213 space robot (dpeaa)DE-He213 Xu, Wenfu aut Liang, Bin aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 15(2017), 2 vom: 08. März, Seite 815-826 (DE-627)SPR026303256 nnns volume:15 year:2017 number:2 day:08 month:03 pages:815-826 https://dx.doi.org/10.1007/s12555-015-0455-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 15 2017 2 08 03 815-826 |
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10.1007/s12555-015-0455-7 doi (DE-627)SPR026433397 (SPR)s12555-015-0455-7-e DE-627 ger DE-627 rakwb eng Mu, Zonggao verfasserin aut Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. Active debris removal (dpeaa)DE-He213 multiple moving obstacles (dpeaa)DE-He213 obstacle avoidance (dpeaa)DE-He213 redundant manipulator (dpeaa)DE-He213 space robot (dpeaa)DE-He213 Xu, Wenfu aut Liang, Bin aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 15(2017), 2 vom: 08. März, Seite 815-826 (DE-627)SPR026303256 nnns volume:15 year:2017 number:2 day:08 month:03 pages:815-826 https://dx.doi.org/10.1007/s12555-015-0455-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 15 2017 2 08 03 815-826 |
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10.1007/s12555-015-0455-7 doi (DE-627)SPR026433397 (SPR)s12555-015-0455-7-e DE-627 ger DE-627 rakwb eng Mu, Zonggao verfasserin aut Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. Active debris removal (dpeaa)DE-He213 multiple moving obstacles (dpeaa)DE-He213 obstacle avoidance (dpeaa)DE-He213 redundant manipulator (dpeaa)DE-He213 space robot (dpeaa)DE-He213 Xu, Wenfu aut Liang, Bin aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 15(2017), 2 vom: 08. März, Seite 815-826 (DE-627)SPR026303256 nnns volume:15 year:2017 number:2 day:08 month:03 pages:815-826 https://dx.doi.org/10.1007/s12555-015-0455-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 15 2017 2 08 03 815-826 |
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10.1007/s12555-015-0455-7 doi (DE-627)SPR026433397 (SPR)s12555-015-0455-7-e DE-627 ger DE-627 rakwb eng Mu, Zonggao verfasserin aut Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. Active debris removal (dpeaa)DE-He213 multiple moving obstacles (dpeaa)DE-He213 obstacle avoidance (dpeaa)DE-He213 redundant manipulator (dpeaa)DE-He213 space robot (dpeaa)DE-He213 Xu, Wenfu aut Liang, Bin aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 15(2017), 2 vom: 08. März, Seite 815-826 (DE-627)SPR026303256 nnns volume:15 year:2017 number:2 day:08 month:03 pages:815-826 https://dx.doi.org/10.1007/s12555-015-0455-7 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 15 2017 2 08 03 815-826 |
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Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator Active debris removal (dpeaa)DE-He213 multiple moving obstacles (dpeaa)DE-He213 obstacle avoidance (dpeaa)DE-He213 redundant manipulator (dpeaa)DE-He213 space robot (dpeaa)DE-He213 |
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Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator |
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Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator |
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Mu, Zonggao |
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Mu, Zonggao Xu, Wenfu Liang, Bin |
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Elektronische Aufsätze |
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10.1007/s12555-015-0455-7 |
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avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator |
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Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator |
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Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 |
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Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 |
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Abstract During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for a redundant space manipulator. The complete properties of an obstacle, including its shape, dimension, pose (position and orientation), and velocity (linear and angular), are defined in the model. The obstacle surface is represented by a super quadratic function whose parameters are adjusted to describe different shapes and dimensions. Pseudo-distance is defined to evaluate the proximity extent between the manipulator and an obstacle. Considering multiple different obstacles, we present an approach to normalize the pseudo-distances. The self-motion of the redundant manipulator was used to optimize the normalized pseudo-distance by adaptive redundancy resolution. By ensuring that the pseudo-distance was always larger than the safety threshold value, collisions with the obstacles were avoided. The proposed method solved the problem for which the Euclidean distance was difficult, or even impossible, to calculate for 3-D cases. When handling multiple different obstacles, the proposed method was much easier and had higher computational efficiency than previous methods. The proposed method was verified by the simulation of typical missions. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017 |
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Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator |
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