Time-Optimal Path Tracking for Dual-Arm Free-Floating Space Manipulator System Using Convex Programming

Quan An, Yao Zhang*, Quan Hu, Mou Li, Jinjian Li, Anyuan Mao

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)

Abstract

In this article, the time-optimal path-Tracking problem of the dual-Arm free-floating space manipulator (FFSM) system is solved by using convex programming. First, we construct a continuous nonlinear optimization problem that considers system dynamics and constraints along the path, including torque, velocity, and acceleration. Subsequently, the original optimization problem is transformed into a convex optimal control problem by using scalar path coordinate and nonlinear variables. To characterize the problem in a more manageable form, we apply the direct transcription method and discretize the problem into a sparse convex optimization program. The numerical results demonstrate that the proposed approach efficiently determines the trajectory of the FFSM along the preset path. Meanwhile, the base's velocity can be limited to a small region, which is an essential requirement for ensuring the stability of the satellite. Furthermore, an experiment is conducted using GLUON robots. The tracking error between the actual and preset pose of the target verifies the feasibility of the proposed method.

Original languageEnglish
Pages (from-to)6670-6682
Number of pages13
JournalIEEE Transactions on Aerospace and Electronic Systems
Volume59
Issue number5
DOIs
Publication statusPublished - 1 Oct 2023

Fingerprint

Dive into the research topics of 'Time-Optimal Path Tracking for Dual-Arm Free-Floating Space Manipulator System Using Convex Programming'. Together they form a unique fingerprint.

Cite this