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

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Abstract

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.

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Authors and Affiliations

  1. Korea Advanced Institute of Science and Technology, Daejeon, Korea

    Yong-Min Kim & Byung-Kook Kim

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  1. Yong-Min Kim
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  2. Byung-Kook Kim
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Correspondence to Yong-Min Kim.

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Kim, YM., Kim, BK. Energy-efficient joint path-following for attitude-fixed space manipulators with bounds on completion time and motor voltage/current. Intel Serv Robotics 10, 1–11 (2017). https://doi.org/10.1007/s11370-016-0211-8

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  • DOI: https://doi.org/10.1007/s11370-016-0211-8

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