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Application of the Obstacle Vector Field Method for Trajectory Planning of a Planar Manipulator in Simulated Microgravity

Tomasz Rybus

Tomasz Rybus

Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN)Warsaw, Poland
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Rybus, Tomasz
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Konrad Aleksiejuk

Konrad Aleksiejuk

Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN)Warsaw, Poland
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Aleksiejuk, Konrad
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Fatina Liliana Basmadji

Fatina Liliana Basmadji

Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN)Warsaw, Poland
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Basmadji, Fatina Liliana
 y 
Adam Sikorski

Adam Sikorski

Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN)Warsaw, Poland
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Sikorski, Adam
  
29 dic 2023
Application of the Obstacle Vector Field Method for Trajectory Planning of a Planar Manipulator in Simulated Microgravity's Cover Image
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Publicado en línea: 29 dic 2023
Páginas: 171 - 187
Recibido: 14 dic 2022
Aceptado: 23 may 2023
DOI: https://doi.org/10.2478/arsa-2023-0021
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© 2023 Tomasz Rybus et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1.

Schematic view of the free-floating satellite-manipulator system and the general idea of the OVF method
Schematic view of the free-floating satellite-manipulator system and the general idea of the OVF method

Figure 2.

Gripper trajectory on the XY plane
Gripper trajectory on the XY plane

Figure 3.

Gripper position: X component (left) and Y component (right)
Gripper position: X component (left) and Y component (right)

Figure 4.

Gripper orientation (left) and chaser satellite orientation (right)
Gripper orientation (left) and chaser satellite orientation (right)

Figure 5.

Angular positions of manipulator joints
Angular positions of manipulator joints

Figure 6.

Chaser satellite mock-up equipped with the 3 DoF manipulator during one of the experiments
Chaser satellite mock-up equipped with the 3 DoF manipulator during one of the experiments

Gripper final positioning errors (absolute values)

Parameter Unit Reference (planning) Experiments
Min. Max. Average
Position X m 0.0008 0.0005 0.0078 0.0043
Position Y m 0.0018 0.0064 0.0171 0.0106
Orientation deg 0.1319 0.0999 1.2999 0.5666

Mass and geometrical properties of the manipulator

Parameter Unit Link 1 Link 2 Link 3
Length m 0.45 0.45 0.31
Mass kg 2.81 2.82 4.64
CoM position in Πi m 0.136−0.002 \left[ {\matrix{ {0.136} \cr { - 0.002} \cr } } \right] 0.134−0.001 \left[ {\matrix{ {0.134} \cr { - 0.001} \cr } } \right] 0.1510 \left[ {\matrix{ {0.151} \cr 0 \cr } } \right]
Mass moment of inertia kg · m2 0.0637 0.0635 0.0515
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