Autonomous Intelligent Robotic Manipulator for On-Orbit Servicing
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AUTONOMOUS INTELLIGENT ROBOTIC MANIPULATOR FOR ON-ORBIT SERVICING BENOIT P. LAROUCHE A DISSERTATION SUBMITTED TO THE FACULTY OF GRADUATE STUDIES IN PARTIAL FULFILMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTORATE OF PHILOSOPHY GRADUATE PROGRAM IN EARTH AND SPACE SCIENCE YORK UNIVERSITY TORONTO, ONTARIO AUGUST 2012 Library and Archives Bibliotheque et Canada Archives Canada Published Heritage Direction du 1+1 Branch Patrimoine de I'edition 395 Wellington Street 395, rue Wellington Ottawa ON K1A0N4 Ottawa ON K1A 0N4 Canada Canada Your file Votre reference ISBN: 978-0-494-92801-1 Our file Notre reference ISBN: 978-0-494-92801-1 NOTICE: AVIS: The author has granted a non L'auteur a accorde une licence non exclusive exclusive license allowing Library and permettant a la Bibliotheque et Archives Archives Canada to reproduce, Canada de reproduire, publier, archiver, publish, archive, preserve, conserve, sauvegarder, conserver, transmettre au public communicate to the public by par telecommunication ou par I'lnternet, preter, telecommunication or on the Internet, distribuer et vendre des theses partout dans le loan, distrbute and sell theses monde, a des fins commerciales ou autres, sur worldwide, for commercial or non support microforme, papier, electronique et/ou commercial purposes, in microform, autres formats. paper, electronic and/or any other formats. The author retains copyright L'auteur conserve la propriete du droit d'auteur ownership and moral rights in this et des droits moraux qui protege cette these. Ni thesis. Neither the thesis nor la these ni des extraits substantiels de celle-ci substantial extracts from it may be ne doivent etre imprimes ou autrement printed or otherwise reproduced reproduits sans son autorisation. without the author's permission. In compliance with the Canadian Conformement a la loi canadienne sur la Privacy Act some supporting forms protection de la vie privee, quelques may have been removed from this formulaires secondaires ont ete enleves de thesis. cette these. While these forms may be included Bien que ces formulaires aient inclus dans in the document page count, their la pagination, il n'y aura aucun contenu removal does not represent any loss manquant. of content from the thesis. Canada AUTONOMOUS INTELLIGENT ROBOTIC MANIPULATOR FOR ON-ORBIT SERVICING by Benoit P. Larouche By virtue of submitting this document electronically, the author certifies that this is a true electronic equivalent of the copy of the dissertation approved by York University for the award of the degree. No alteration of the content has occurred and if there are any minor variations in formatting, they are as a result of the conversion to Adobe Acrobat format (or similar software application). Examination Committee Members: 1. Prof. Gordon Shepherd 2. Prof. Jinjun Shan 3. Prof. Anne Moore 4. Prof. Alfred Ng 5. Prof. GuangJun Liu Abstract The doctoral research is to develop an autonomous intelligent robotic manip ulator technology for on-orbit servicing (OOS). More specifically, the research is focused on one of the most critical tasks in OOS- the capture of a non-cooperative object whilst minimizing impact forces and accelerations. The objective of the re search is: the development of a vision-based control theory, and the implementation and testing of the developed theory by designing and constructing a custom non- redundant holonomic robotic manipulator. The research validated the newly devel oped control theory and its ability to (i) capture a moving target autonomously and (ii) minimize unfavourable contact dynamics during the most critical parts of the capture operations between the capture satellite and a non-cooperative/tumbling object. A custom robotic manipulator functional prototype has been designed, assembled, constructed, and programmed from concept to completion in order to provide full customizability and controllability in both the hardware and the soft ware. Based on the test platform, a thorough experimental investigation has been conducted to validate the newly developed control methodologies to govern the be haviour of the robotic manipulators (RM) in an autonomous capture. The capture itself is effected on non-cooperative targets in zero-gravity simulated environment. The RM employs a vision system, force sensors, and encoders in order to sense its environment. The control is effected through position and pseudo-torque inputs to three stepper motors and three servo motors. The controller is a modified hy brid force/neural network impedance controller based on N. Hogan’s original work. The experimental results demonstrate the set objectives of this thesis have been successfully achieved. D edication I would like to dedicate this thesis to my family, my friends, and my colleagues. ”Face new challenges, seize new opportunities, test your resources against the unknown and in the process, discover your own unique potential. ” -John Amatt Acknowledgements This dissertation would not have been possible without the guidance and help of several individuals who in one way or another contributed and extended their valuable assistance in the preparation, conduction, and completion of this study. First and foremost, I would like to thank my wife, Andrea. Without your support, your encouragement, and your understanding, none of this would have been possible. It has been a long and winding road which I’m happy to say we’ve travelled together. To my family, thanks for keeping me grounded, focused, and sane. Although you may never read this thesis, know that you inspired it and are partly responsible for it. I would like to extend my utmost gratitude to Dr. George Z.H. Zhu, my su pervisor and mentor whose sincerity, encouragement, late nights and tireless efforts helped shape my focus and inspire me as I hurdle all the obstacles and barriers in the completion of this work. To my co-conspirator and office mate, Danut Tabacaru. Thank you for fuelling my work with premium coffee, fielding my frustrations with humour, and keeping my sanity mostly intact with your company. It would have been a much different experience had you not been around. To my software guru Christopher Prevoe. Without his voice of reason and experience, there would have been no version control, not nearly enough comments, and a lot less interesting discussions occurring over lunch. To my friends and colleagues, you are the reason the past four years have been a series of challenges and successes rather that trials and frustrations. Thanks for the games, the late nights, and the constant access to the helpline. vi Contents Abstract iv Acknowledgements vi Table of Contents vii List of Tables xii List of Figures xiii Preface A xviii Abbreviations xix 0.1 Notation ...................................................................................................... xix 0.2 Convention ................................................................................................ xix 0.3 List of Sym bols .......................................................................................... xx 1 Introduction and Justification 1 1.1 Introduction ................................................................................................ 1 1.2 Robotics in Space ...................................................................................... 1 1.3 Justification of the Study .......................................................................... 5 1.3.1 Challenges of On-Orbit Servicing Robotic Manipulator . 5 1.3.2 Limitations of Existing T reatm en ts .......................................... 7 1.4 Research Objectives................................................................................... 7 1.5 Research Methodology .......................... 8 1.6 Layout of Thesis ...................................................................................... 10 2 Literature Review 12 2.1 Robotic Design .......................................................................................... 12 2.2 Robotic Control Theory .......................................................................... 13 2.2.1 Vision-based Control .................................................................... 14 2.2.2 Impedance C o n tro l ...................................................................... 16 2.2.3 Speed and Acceleration C o n tro l ................................................ 18 2.2.4 Input Shaping Control for Flexible J o i n t ................................ 18 2.3 A utonom y .................................................................................................. 19 2.3.1 Learning Neural Network ............................................................ 20 2.3.2 Genetic A lg o rith m ...................................................................... 21 2.4 Sensors ........................................................................................................ 22 2.4.1 Force S en sin g ............................................................................... 22 2.4.2 Visual Servoing ............................................................................ 22 3 Theoretical Development of Control Law 24 3.1 Control Problem Definition .................................................................. 24 3.2 Robotic Manipulator M odel .................................. 26 3.2.1 Kinematic Model of Robotic Manipulator ................................ 26 3.2.2 Dynamic Model of Robotic M a n ip u la to r ................................ 29 3.2.3 Denavit-Hartenberg Transform ...............................................