Modelling and Control of an End-Over-End Walking Robot

Nair, Manu H., Saaj, Mini and Esfahani, Amir G. (2020) Modelling and Control of an End-Over-End Walking Robot. In: 21st Towards Autonomous Robotic Systems Conference, 16 September 2020, University of Nottingham, UK.

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Modelling and Control of an End-Over-End Walking Robot

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Item Type:Conference or Workshop contribution (Paper)
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Over the last few decades, Space robots have found their applications in various in-orbit operations. The Canadarm2 and the European Robotic Arm (ERA), onboard the International Space Station (ISS), are exceptional examples of supervised robotic manipulators (RMs) used for station assembly and mainte­nance. However, in the case of in-space assembly of structures, like Large-Aperture Space Telescope (LAT) with an aperture larger than the Hubble Space Telescope (HST) and James Webb Space Telescope (JWST), missions are still in their infancy; this is heavily attributed to the limitations of current state-of-the-art Robotics, Automation and Autonomous Systems (RAAS) for the extreme space environ­ment. To address this challenge, this paper introduces the modelling and control of a candidate robotic architecture, inspired by Canadarm2 and ERA, for in-situ assembly of LAT. The kinematic and dynamic models of a five degrees-of-freedom (DoF) End-Over-End Walking robot's (E-Walker's) first phase of motion is pre­sented. A closed-loop feedback system validates the system's accurate gait pat­tern. The simulation results presented show that a Proportional-Integral-Derivative (PID) controller is able to track the desired joint angles without exceeding the joint torque limits; this ensures precise motion along the desired trajectory for one full cycle comprising of Phase-1 and Phase-2 respectively. The gait pattern of the E-Walker for the next phases is also briefly discussed.

Keywords:End-Over-End Walking robot, Kinematics, Dynamics, Control, Trajectory generation, Large-Aperture space telescopes
Subjects:H Engineering > H730 Mechatronics
H Engineering > H671 Robotics
Divisions:College of Science > School of Engineering
ID Code:49496
Deposited On:25 May 2022 09:07

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