0
Research Papers

Gradient Projection of Weighted Jacobian Matrix Method for Inverse Kinematics of a Space Robot With a Controlled-Floating Base

[+] Author and Article Information
Tianjin Hu

School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: htj13@mails.tsinghua.edu.cn

Tianshu Wang

School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: tswang@tsinghua.edu.cn

Junfeng Li

School of Aerospace Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: lijunf@tsinghua.edu.cn

Weiping Qian

Beijing Institute of Tracking
and Telecommunication Technology,
Beijing 100094, China
e-mail: qianweipingbittt@sina.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 5, 2016; final manuscript received November 23, 2016; published online March 22, 2017. Assoc. Editor: Yongchun Fang.

J. Dyn. Sys., Meas., Control 139(5), 051013 (Mar 22, 2017) (10 pages) Paper No: DS-16-1009; doi: 10.1115/1.4035398 History: Received January 05, 2016; Revised November 23, 2016

This paper studies the inverse kinematics (IKs) of a space robot with a controlled-floating base. Different from the traditional space robot which has a free-floating base, the momentum conservation is no longer satisfied so that the degrees-of-freedom (DOFs) and redundancy of the robot obviously increase, and motion limits exist for both base and manipulator. To deal with such a problem, a gradient projection of weighted Jacobian matrix (GPWJM) method is proposed. The Jacobian matrix is derived considering the additional DOFs of the base, and the trajectory tracking by the end-effector is chosen as the main task. A clamping weighted least norm scheme is introduced into the derived Jacobian matrix to avoid the motion limits, and the singular-robustness is enhanced by the damping least-squares. The convergence and accuracy analysis indicates the calculation of damping factor; while the verification of motion limits avoidance indicates the inequality constraint of clamping velocity. Finally, the effectiveness of the proposed GPWJM method is investigated by the numerical simulation in which a planar 3DOF manipulator on a 3DOF base is taken as a demo.

Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Scenario of the space robot with a redundant manipulator fastened on a 6DOF base

Grahic Jump Location
Fig. 2

Value of weight wi and gradient function hi via the ith generalized coordinate qi

Grahic Jump Location
Fig. 3

Basic process of GPWJM method

Grahic Jump Location
Fig. 4

Numerical demo: a planar 3DOF manipulator on a 3DOF controlled-floating base

Grahic Jump Location
Fig. 5

Base motion of the robot in the local periodic painting task

Grahic Jump Location
Fig. 6

Joint angles of the manipulator in the local periodic painting task

Grahic Jump Location
Fig. 7

Robot configuration in the local periodic painting task

Grahic Jump Location
Fig. 8

Base motion of the robot in the large-scale translation task

Grahic Jump Location
Fig. 9

Joint angles of the manipulator in the large-scale translation task

Grahic Jump Location
Fig. 10

Weights wi during the large-scale translation task

Grahic Jump Location
Fig. 11

Robot configuration during the large-scale translation task

Grahic Jump Location
Fig. 12

Base motion of the robot with a sudden change of the end-effector's trajectory

Grahic Jump Location
Fig. 13

Joint angles of the manipulator with a sudden change of the end-effector's trajectory

Grahic Jump Location
Fig. 14

Weighted coefficients with a sudden change of the desired trajectory

Grahic Jump Location
Fig. 15

Damp factor of the GPWJM method with a sudden change of the desired trajectory

Grahic Jump Location
Fig. 16

Robot configuration with a sudden change of the desired trajectory

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In