Space Debris Manipulation by Cooperative Redundant Planar Robots with Minimized Trajectory Error.

Unlike the ground-based manipulator, the space manipulator has no fixed base. Dynamic reaction forces and moments induced by manipulator motion will disrupt the space robot base. The docking of a floating object adds a control problem because it affects the pose of the free-floating base of the space manipulator. As a result, the tracking trajectory by the robot tip cannot comply with the reference trajectory. Owing to the non-holonomic features of space manipulator, the control methodology requires the advanced controller to neutralize trajectory deviation. This work presents the trajectory control strategy of two redundant planar robot (RPR) that dealt with a rectangular floating body. The control strategy composed of Proportional Integral Derivative (PID) controller and Amnesia controller. The eight-links two RPSR are modeled and simulated for docking the rectangular floating body. The result of computer simulation shows that with PID and Amnesia controller, the deviation between the reference and actual trajectory is decreased, the error between the reference and the actual trajectory is reduced, and the rotation of a floating rectangular body is reduced to the minimum extent because of PID and Amnesia controller. Additionally, optimum tuning of gain parameters is implemented using a Genetic Algorithm which results in further reduction of error by 40%. Furthermore, this proposed control strategy will be extended to achieve the desired trajectory by controlling and switching over various joints with greater accuracy. The Bond Graph Technique (BGT) is utilized in this work to model the robot dynamic behavior and to implement the control scheme using the SYMBOLS Shakti software. The BGT is convenient for the modeling and simulation of systems with a different domains like hydraulic, mechanical, electrical, etc. The technique generates dynamic equations based on graphical modeling with kinematic entities. [ABSTRACT FROM AUTHOR]