Application of Trajectory Optimization Method for a Space Manipulator with Four Degrees of Freedom

Tomasz Rybus, Karol Seweryn, Jurek Z. Sąsiadek

2016

Abstract

Planned active debris removal and on-orbit servicing missions require capabilities for capturing objects on Earth’s orbit, e.g., by the use of a manipulator. In this paper we demonstrate the application of a trajectory optimization algorithm for free-floating satellite-manipulator systems in two cases: a planar system with 2 degrees of freedom manipulator and a spatial system with a manipulator having four degrees of freedom. For the case with planar system, results of experiments performed on an air-bearing microgravity simulator are shown. Quadratic norm connected with the power consumption of manipulator motors has been used as a cost functional that is minimized. Optimal trajectories are compared with straight-line trajectories and it is shown that the optimization allows reduction of the power use of manipulator motors (for the planar system 30 trajectories based on randomly selected initial and final end-effector positions were analysed and the cost functional was, on average, reduced by 49.4%). The presented method could be modified by using cost functional that would, e.g., minimize disturbance on the satellite.

Paper Citation

in Harvard Style

Rybus T., Seweryn K. and Sąsiadek J. (2016). Application of Trajectory Optimization Method for a Space Manipulator with Four Degrees of Freedom . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 92-101. DOI: 10.5220/0005981000920101

in Bibtex Style

@conference{icinco16,
author={Tomasz Rybus and Karol Seweryn and Jurek Z. Sąsiadek},
title={Application of Trajectory Optimization Method for a Space Manipulator with Four Degrees of Freedom},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={92-101},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005981000920101},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Application of Trajectory Optimization Method for a Space Manipulator with Four Degrees of Freedom
SN - 978-989-758-198-4
AU - Rybus T.
AU - Seweryn K.
AU - Sąsiadek J.
PY - 2016
SP - 92
EP - 101
DO - 10.5220/0005981000920101