Dynamic Balance Control of Multi-arm Free-Floating Space Robots

Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or velocity) robots, closed-loop QP control scheme can be prone to instability depending on how the gains related to the tasks or the constraints are chosen. In this paper, we address such instability shortcomings. First, we highlight the non-robustness of the closed-loop system against non-modeled dy...

The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest for its wide applications in transportation, aerospace, and ocean exploration. Due to the non-Euclidean configuration space of attitudes and the inherent nonlinearity of the dynamics of rigid body systems, synchronization of multiple rigid body syst...

This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to the MIRROR (i.e., the Multi-arm Installation Robot for Readying ORUs and Reflectors) use-case scenario as proposed by the European Space Agency. A holistic computational design and validation pipeline is proposed, with the aim of comparing different limb designs, as well as ensuring that valid limb ...

This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10 kg quadrupedal robots connected by a tether, capable of executing successive jumping gaits and stabilizing in-flight using inertial morphing technology. Through model predictive control (MPC), attitude control was demonstrated by adjusting t...

The paper deals with coupled systems including hand-operated balanced manipulators and lightweight robots. The aim of such a cooperation is to displace heavy payloads with less powerful robots. In other term, in the coupled system for handling of heavy payloads by a HOBM an operator is replaced by a LWR. The advantages of the coupled HOBM and LWR are disclosed and the optimal design of the cooperative workspace is discussed. Behavior of the coupled system in a static mode whe...

This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system has a 6-DOF, and it provides enough distance between the quadrotor and the object. System kinematics and dynamics are derived. To study the feasibili...

Bikebot manipulation has advantages of the single-track robot mobility and manipulation dexterity. We present a coordinated pose control of mobile manipulation with the stationary bikebot. The challenges of the bikebot manipulation include the limited steering balance capability of the unstable bikebot and kinematic redundancy of the manipulator. We first present the steering balance model to analyze and explore the maximum steering capability to balance the stationary platfo...

Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic constraints, and managing time delays that increase model uncertainty and affect control precision. Traditional teleoperation methods rely on precise dynamic models requiring complex parameter identification and calibration, while data-driven methods do not require prior knowledge but struggle with time...

Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. It is necessary to follow the principle of Distant Mobility, Close Grasping(DMCG) in holistic control. We propose Embodied Holistic Control for Mobile Manipulation(EHC-MM) with the embodied function of sig(w): By formulating the DMCG principle as a Quadratic Programming (QP) problem, sig(w) dynamically balances the robot's emphasis between movement an...

Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a connected kinodynamic chain, which can be viewed as a special class of floating-base robot systems. However, unlike general floating-base robot systems, human users are the bases of SRAs and they have their subjective behaviors/motions. This implies that human body motions can unintentionally affect the SRA's end-effector movem...