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Mobility of a nonholonomic space robot constrained by large movable obstacles

2015/17/B/ST7/03995

Keywords

Descriptors

  • ST7_10: Robotyka
  • ST7_1: Inżynieria sterowania
  • ST7_3: Inżynieria symulacji i modelowania

Panel

ST7 – Systems and communication engineering: electronics, communication, optoelectronics

Host institution

Centrum Badań Kosmicznych PAN

Voivodeship: mazowieckie

Other projects carried out by the institution »

Principal investigator (from the host institution)

dr Jerzy Sąsiadek

Number of co-investigators in the project: 10

Call

OPUS 9 – announced on 2015-03-16

Amount awarded
1 363 400 PLN
Project start date
2016-07-01
Project end date
2020-03-31
Project duration
45 months (the same as in the proposal)
Project status
Project settled

Project description

Download the project description in a pdf file

Note — project descriptions were prepared by the authors of the applications themselves and placed in the system in an unchanged form.

Equipment purchased [PL]

  1. Platforma 1 - robot. Cost: 6 591 PLN
  2. Platforma 2 - docelowy satelita. Cost: 65 000 PLN
  3. Przeszkody. Cost: 37 000 PLN

Information in the final report

Publication in academic press/journals (6)

  1. General Lagrange-Type Jacobian Inverse for Nonholonomic Robotic Systems

    Authors:
    Krzysztof Tchoń, Joanna Ratajczak
    Academic press:
    IEEE Transactions on Robotics (year: 2018, volume: vol. 34, no. 1, pages: 256-263), Publisher: IEEE Robotics and Automation Society
    Status:
    Published
    DOI:
    10.1109/TRO.2017.2754520 – link to the publication

  2. Normal forms and singularities of non-holonomic robotic systems:A study of free-floating space robots

    Authors:
    Joanna E. Ratajczak, Krzysztof Tchoń
    Academic press:
    Systems & Control Letters (year: 2020, volume: 138, pages: 46023), Publisher: Elsevier B.V.
    Status:
    Published
    DOI:
    10.1016/j.sysconle.2020.104661 – link to the publication

  3. Obstacle avoidance in space robotics: review of major challenges and proposed solutions

    Authors:
    Tomasz Rybus
    Academic press:
    PROGRESS IN AEROSPACE SCIENCES (year: 2018, volume: vol. 101, pages: 31-48), Publisher: PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
    Status:
    Published
    DOI:
    10.1016/j.paerosci.2018.07.001 – link to the publication

  4. Point-to-point motion planning of a free-floaing space manipulator using the rapidly-exploring random trees (RRT) method

    Authors:
    Tomasz Rybus
    Academic press:
    Robotica (year: 2020, volume: 38(6), pages: 957-982), Publisher: Cambridge University Press
    Status:
    Published
    DOI:
    10.1017/S0263574719001176 – link to the publication

  5. Space robot motion planning in the presence of non-conserved linear and angular momenta

    Authors:
    Fatina Liliana Basmadji, Karol Seweryn, Jurek Z. Sąsiadek
    Academic press:
    Multibody System Dynamics (year: 2020, volume: 50, pages: 71–96), Publisher: Springer
    Status:
    Published
    DOI:
    10.1007/s11044-020-09753-x – link to the publication

  6. Input-output decoupling for a 3D free-floating satellite with a 3R manipulator with state and input disturbances

    Authors:
    Wojciech G. Domski, Alicja Mazur
    Academic press:
    Bulletin of the Polish Academy of Sciences. Technical Sciences (year: 2019, volume: 67,6, pages: 1031-1039), Publisher: PAN
    Status:
    Published
    DOI:
    10.24425/bpasts.2019.130885 – link to the publication

Articles in post-conference publications (11)

  1. Lagrangian Jacobian motion planning with application to a free-floating space manipulator

    Authors:
    Joanna E. Ratajczak, Krzysztof Tchoń
    Conference:
    RoMoCo'19 (year: 2019, pages: 166-171), Publisher: IEEE
    Date:
    conference 08-10.07.2019
    Status:
    Published

  2. Singularities, normal forms, and motion planning for non-holonomic robotic systems

    Authors:
    Krzysztof Tchoń, Joanna E. Ratajczak
    Conference:
    6th International Conference on Control, Dynamic Systems, and Robotics (CDSR'19) (year: 2019, pages: CDSR 127-1 do 127-9), Publisher: Avestia publishing
    Date:
    conference 06-07.06.2019
    Status:
    Published

  3. Microgravity testbed for the development of space robot control systems and the deonstration of orbital maneuvers

    Authors:
    Fatina Liliana Basmadji, Grzegorz Chmaj, Tomasz Rybus, Karol Seweryn
    Conference:
    Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019 (year: 2019, pages: 46037), Publisher: SPIE
    Date:
    conference 27.05.2019 - 02.06.2019
    Status:
    Published

  4. Validation of the robot rendezvous and grasping manoeuvre using microgravity simulators

    Authors:
    Karol Seweryn, Tomasz Rybus, Pablo Colmenarejo, Gabriele Novelli, Jakub Oleś, Markus Pietras, Jurek Z. Sasiadek, Marc Scheper, Kamil Tarenko
    Conference:
    2018 IEEE International Conference on Robotics and Automation (ICRA) (year: 2018, pages: 873-880), Publisher: IEEE
    Date:
    conference 21-25.05. 2018
    Status:
    Published

  5. Tracking of numerically defined trajectory by free floating 3D satellite

    Authors:
    Wojciech G. Domski, Alicja Mazur
    Conference:
    RoMoCo'19 (year: 2019, pages: 178-183), Publisher: IEEE
    Date:
    conference 8-10.07.2019
    Status:
    Published

  6. Trajectory reproduction algorithm in application to an on-orbit docking maneuver with tumbling target

    Authors:
    Adam G. Ratajczak, Joanna E. Ratajczak
    Conference:
    RoMoCo'19 (year: 2019, pages: 172-177), Publisher: IEEE
    Date:
    conference 08-10.07.2019
    Status:
    Published

  7. Path tracking with orthogonal parametrization for a satellite with partial state information

    Authors:
    Wojciech G. Domski, Alicja Mazur
    Conference:
    15th International Conference on Informatics in Control, Automation and Robotics (year: 2018, pages: 252-257), Publisher: SCITEPRESS, cop. 2018.
    Date:
    conference 29-31.07.2018
    Status:
    Published

  8. General Lagrangian Jacobian motion planning algorithm for affine robotic systems with application to a space manipulator

    Authors:
    Krzysztof Tchoń, Joanna Ratajczak
    Conference:
    22nd International Conference on Methods and Models in Automation and Robotics (MMAR 2017) (year: 2017, pages: 909-914), Publisher: IEEE
    Date:
    conference 28-31 sierpień 2017
    Status:
    Published

  9. On barycentric coordinates in control of a thruster driven spacecraft

    Authors:
    Janusz Jakubiak
    Conference:
    Controlo 2018 (year: 2018, pages: 165-170), Publisher: IEEE
    Date:
    conference 4-6 czerwiec 2018
    Status:
    Published

  10. Emergency control of a space 3R manipulator in case of one joint failure

    Authors:
    Wojciech Domski, Alicja Mazur
    Conference:
    22nd International Conference on Methods and Models in Automation and Robotics (MMAR 2017) (year: 2017, pages: 384-389), Publisher: IEEE
    Date:
    conference 28-31 sierpień 2017
    Status:
    Published

  11. On-orbit assembly of large structures using space robots

    Authors:
    Fatina Liliana Basmadji, Tomasz Rybus, Jerzy Sąsiadek, Karol Seweryn
    Conference:
    14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2017) (year: 2017, pages: ---), Publisher: ESA
    Date:
    conference 20-22 czerwiec 2017
    Status:
    Published

Book publications / chapters in book publications (5)

  1. Współrzędne barycentryczne w sterowaniu robotem kosmicznym z redundantnymi napędami

    Authors:
    Janusz Jakubiak
    Book:
    Postępy robotyki / pod red. Krzysztofa Tchonia i Cezarego Zielińskiego. (year: 2018, volume: 0, pages: 87-96), Publisher: Warszawa : Oficyna Wydawnicza Politechniki Warszawskiej (Prace Naukowe - Politechnika Warszawska. Elektronika, ISSN 0137-2343; z. 196)
    Status:
    Published

  2. Naziemna weryfikacja manewrów realizowanych przez robota kosmicznego

    Authors:
    Fatina Liliana Basmadji, Aleksandra Biedrzycka, Małgorzata Pawlus, Karol Seweryn, Jerzy Sąsiadek
    Book:
    Postępy robotyki / pod red. Krzysztofa Tchonia i Cezarego Zielińskiego. (year: 2018, volume: 0, pages: 35-50), Publisher: Warszawa : Oficyna Wydawnicza Politechniki Warszawskiej (Prace Naukowe - Politechnika Warszawska. Elektronika, ISSN 0137-2343; z. 196)
    Status:
    Published

  3. Planowanie manewru dokowania manipulatora kosmicznego typu planarne trójwahadło metodą endogenicznej przestrzeni konfiguracyjnej

    Authors:
    Adam G. Ratajczak, Joanna E. Ratajczak
    Book:
    Postępy robotyki / pod red. Krzysztofa Tchonia i Cezarego Zielińskiego (year: 2018, volume: 0, pages: 51-60), Publisher: Warszawa: Oficyna Wydawnicza Politechniki Warszawskiej
    Status:
    Published

  4. Zastosowanie metody sztucznych pól potencjału do planowania trajektorii manipulatora satelitarnego

    Authors:
    Tomasz Rybus, Karol Seweryn
    Book:
    Postępy robotyki / pod red. Krzysztofa Tchonia i Cezarego Zielińskiego (year: 2018, volume: 0, pages: 61-74), Publisher: Warszawa : Oficyna Wydawnicza Politechniki Warszawskiej (Prace Naukowe - Politechnika Warszawska. Elektronika, ISSN 0137-2343; z. 196)
    Status:
    Published

  5. Normal forms of robotic systems with affine Pfaffian constraints: A case study

    Authors:
    Krzysztof Tchoń, Joanna E. Ratajczak, Janusz Jakubiak
    Book:
    Advances in robot kinematics 2018. Ed. by Jadran Lenarcic and Vincenzo Parenti-Castelli. Springer Proceedings in Advanced Robotics. (year: 2019, volume: 8, pages: 250-257), Publisher: Cham: Springer
    Status:
    Published

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Graphic design and implementation: Jakub Piotrowski