Due to unilateral constraints of frictional contacts and the dynamic coupling phenomenon, the study on the unfixed manipulation through frictional contacts for multi-arm space robots is few carried out. This paper proposes a new measure method to assess the dynamic manipulability of the unfixed manipulation through frictional contacts. In particular, the explicit map from the base actuation and joint torques to the object acceleration, the base acceleration, and the internal force is formulated under unilateral constraints of frictional contacts. Considering typical control scenarios of both free-floating and free-flying systems, dynamic manipulabilities are derived separately. As an illustrative example, the dynamic manipulability of a planar dual-arm space robot is computed and reported, which visualizes the influence of different system parameters.
Flores-AbadAMaOPhamK, et al.A review of space robotics technologies for on-orbit servicing. Prog Aerospace Sci2014; 68: 1–26.
2.
ShanMGuoJGillE. Review and comparison of active space debris capturing and removal methods. Prog Aerospace Sci2016; 80: 18–32.
3.
XuWPengJLiangB, et al.Hybrid modeling and analysis method for dynamic coupling of space robots. IEEE Trans Aerosp Electron Syst2016; 52(1): 85–98.
4.
JiaSJiaYXuS, et al.Maneuver and active vibration suppression of free-flying space robot. IEEE Trans Aerosp Electron Syst2018; 54(3): 1115–1134.
5.
Flores-AbadAGarcia-TerinyMAPoncezIUet al. Compliant force sensor-less capture of an object in orbit. IEEE Trans Aerosp Electron Syst2020; 57(1): 497–505.
6.
XuWMengDLiuH, et al.Singularity-free trajectory planning of free-floating multi-arm space robots for keeping the base inertially stabilized. IEEE Trans Syst Man Cybern Syst2017; PP(99): 1–14.
7.
WangMLuoJYuanJ, et al.Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization. Acta Astronautica2018; 146: 259–272.
8.
SmithCKarayiannidisYNalpantidisL, et al.Dual arm manipulation-a survey. Robotics Autonomous Syst2012; 60(10): 1340–1353.
9.
ChuXHuQZhangJ. Path planning and collision avoidance for a multi-arm space maneuverable robot. IEEE Trans Aerosp Electron Syst2018; 54(1): 217–232.
10.
YanLXuWHuZ, et al.Virtual-base modeling and coordinated control of a dual-arm space robot for target capturing and manipulation. Multibody Syst Dyn2018: 1–25.
11.
WuY-HYuZ-CLiC-Y, et al.Reinforcement learning in dual-arm trajectory planning for a free-floating space robot. Aerospace Sci Tech2020; 98: 105657.
12.
JiangHHawkesEWFullerC, et al.A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity. Sci Robot2017; 2(7): eaan4545.
13.
RekleitisGPapadopoulosE. On-orbit cooperating space robotic servicers handling a passive object. IEEE Trans Aerosp Electron Syst2015; 51(2): 802–814.
14.
StolfiAGasbarriPSabatiniM. A combined impedance-pd approach for controlling a dual-arm space manipulator in the capture of a non-cooperative target. Acta Astronautica2017; 139: 243–253.
15.
LiCZhengZYuanJ. A trajectory optimization method with frictional contacts for on-orbit capture. Acta Astronautica2020; 175: 90–98.
16.
ZangYZhangYZhangJ, et al.Multipoint contact dynamics and the detumbling strategy for a fast-tumbling target. IEEE Trans Aerosp Electron Syst2020; 56(4): 3113–3122.
17.
ZhengYQianWH. Improving grasp quality evaluation. Robot Auton Syst2009; 57(6): 665–673.
18.
SheYLiSHuJ. Contact dynamics and relative motion estimation of non-cooperative target with unilateral contact constraint. Aerospace Sci Tech2020; 98: 105705.
19.
VahrenkampNAsfourT. Representing the robot’s workspace through constrained manipulability analysis. Auton Robot2015; 38(1): 17–30.
20.
YoshikawaT. Manipulability of robotic mechanisms. Int J Robotics Res1985; 4(2): 3–9.
21.
YoshikawaT. Dynamic manipulability of robot manipulators. Proc 1985 IEEE Int Conf Robotics Automation; 2: 1033–1038.
22.
YoshikawaTNagaiK. Manipulating and grasping forces in manipulation by multifingered robot hands. IEEE Trans Robot Automat1991; 7(1): 67–77.
23.
YokokohjiYSan MartinJFujiwaraM. Dynamic manipulability of multifingered grasping. IEEE Trans Robot2009; 25(4): 947–954.
24.
UmentaniYYoshidaK. Workspace and manipulability analysis of space manipulator. Trans Soc Inst Contrl Eng2001; E-1(1): 116–123.
25.
ZhangBLiangBWangX, et al.Manipulability measure of dual-arm space robot and its application to design an optimal configuration. Acta Astronautica2016; 128: 322–329.
26.
YoshikawaT. Virtual truss model for characterization of internal forces for multiple finger grasps. IEEE Trans Robot Automat1999; 15(5): 941–947.
27.
DotyKLMelchiorriCBoniventoC. A theory of generalized inverses applied to robotics. Int J Robotics Res1993; 12(1): 1–19.
