TY  - BOOK
AU  - Maheshwari, Dheeraj
AU  - Shah, Suril V.
TI  - Post- Impact Control and Motion Planning for Multi- Arm Space Robot while Capturing Tumbling Orbiting Objects
U1  - 629.41 
PY  - 2019///
CY  - IIT Jodhpur
PB  - Department of Mechanical Engineering
KW  - Motion Planning for Multi- Arm Space Robot
KW  - MTech Theses
KW  - Department of Mechanical Engineering
N2  - "An increase in the number of satellites and space debris leads to intense require to expand the roboticspace technologies for autonomous on-orbit services. Operations like, capturing, repairing, refueling, andrefurbishment of an on-orbit satellite using a space robot mounted on service satellite will be the most criticalcomponents of the space mission in the future. The objective behind capturing defective satellites/debris is toavoid their possible collision with a working satellite in the same orbit. In such operations, safety, reliability,and ease of execution is a paramount concern that can be obtained with the use of space robots. Drivenby this motivation, an attempt has been made in this work to develop a framework for the post-impactcontrol and motion planning of a multi-arm robotic manipulator system mounted on a service satellite whilethe capture of tumbling orbiting objects. A floating-base robotic system with dual arms capturing a singletumbling orbiting object forms a closed-loop system in the post-impact phase. Such capturing operation hasthree phases, namely, pre-impact, impact, and post-impact phases.The main topic addressed in this work is the control strategy for the post-impact phase of the closed-loop system and motion planning of free-floating space manipulator system. Firstly, the previously devel-oped concept of reactionless manipulation is introduced for a known parameter target by presenting theReaction Null-Space Control method, which is unique to the free-floating space manipulator system. Fur-ther due to capturing of tumbling target results in a change in the inertial characteristics of the robotic systemwith time, so an Adaptive Reactionless Control algorithm is to be formulated using the idea of the Reac-tion Null-Space Control method, to obtain modified set of reactionless joint motion with incremental timewith minimal disturbance to the base. In the adaptive reactionless control method, the recursive least squarealgorithm is used to modify the reactionless joint rates adaptively. Also, Momentum-based Parameter Es-timation method is introduced for inertia parameter identification. At last, the concept of Motion Planningwith appropriate trajectory is used to place the captured target to the desired location without damage to theother objects in the same orbital field, is presented.
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ER  -