Energy-efficient joint path-following for attitude-fixed space manipulators with bounds on completion time and motor voltage/current

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This paper investigates the minimum-energy joint path-following problem for space manipulators whose base attitude is stabilized by reaction wheels. In the problem, manipulator joint path is specified for rest-to-rest motion and constraints are imposed as the upper bound on both motion completion time and the voltage/current limits of DC motors in manipulator joints and reaction wheels. We suggest a simple two-stage algorithm to address this problem. The algorithm first tries to find a global optimal solution by solving a relaxed convex problem. If the convex relaxation is not successful, then the algorithm solves subproblems iteratively to find a suboptimal solution. Since both problems are formulated as second-order cone programming (SOCP) form, they can be solved efficiently using dedicated SOCP solvers. The effectiveness of the proposed method is verified by numerical experiments.
Publisher
SPRINGER HEIDELBERG
Issue Date
2017-01
Language
English
Article Type
Article
Keywords

ROBOTIC MANIPULATORS

Citation

INTELLIGENT SERVICE ROBOTICS, v.10, no.1, pp.1 - 11

ISSN
1861-2776
DOI
10.1007/s11370-016-0211-8
URI
http://hdl.handle.net/10203/223345
Appears in Collection
EE-Journal Papers(저널논문)
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