research-article

Real-time dynamic singularity avoidance while visual servoing of a dual-arm space robot

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S. V. ShahAuthors Info & Claims

AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

Article No.: 31, Pages 1 - 6

https://doi.org/10.1145/2783449.2783480

Published: 02 July 2015 Publication History

Abstract

Singularity of robotic manipulators is an important issue in the stability and control of autonomous robotic systems. This paper presents a real-time dynamic singularity avoidance approach for such autonomous free-floating space robots where visual servoing is used as feedback in the control loop. The proposed method uses manipulability measure as distance criteria and does not require any prior knowledge of singular configurations. Velocities in task space are projected on a surface of constant manipulability measure to avoid singular configurations. Numerical experiments are carried out, to validate the proposed method, on a 6-Degrees-of-Freedom dual-arm space robot mounted on a service satellite.

References

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Digital Library

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Cited By

Ellery A(2019)Tutorial Review on Space Manipulators for Space Debris MitigationRobotics10.3390/robotics80200348:2(34)Online publication date: 26-Apr-2019
https://doi.org/10.3390/robotics8020034
Xu QSun X(2018)Adaptive operation-space control of redundant manipulators with joint limits avoidance2018 Tenth International Conference on Advanced Computational Intelligence (ICACI)10.1109/ICACI.2018.8377484(358-363)Online publication date: Mar-2018
https://doi.org/10.1109/ICACI.2018.8377484

Real-time dynamic singularity avoidance while visual servoing of a dual-arm space robot
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
    2. Planning and scheduling

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AIR '15: Proceedings of the 2015 Conference on Advances In Robotics

July 2015

413 pages

ISBN:9781450333566

DOI:10.1145/2783449

Copyright © 2015 ACM.

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Published: 02 July 2015

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AIR '15

AIR '15: Advances In Robotics

July 2 - 4, 2015

Goa, India

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Cited By

Ellery A(2019)Tutorial Review on Space Manipulators for Space Debris MitigationRobotics10.3390/robotics80200348:2(34)Online publication date: 26-Apr-2019
https://doi.org/10.3390/robotics8020034
Xu QSun X(2018)Adaptive operation-space control of redundant manipulators with joint limits avoidance2018 Tenth International Conference on Advanced Computational Intelligence (ICACI)10.1109/ICACI.2018.8377484(358-363)Online publication date: Mar-2018
https://doi.org/10.1109/ICACI.2018.8377484

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