Curve-constrained collision-free trajectory control of hyper-redundant planar space robot

Abstract

Redundancy resolution in a hyper-redundant space robots is a big challenge due to its extra degrees of freedom. This article presents a methodology to control motion planning of a planar space robot with multiple links, that is, hyper-redundant space robot. For control purpose, first a curve-constrained link trajectory tracking control has been developed. Then, the developed control approach has been extended for a collision-free trajectory tracking. For curve-constrained link trajectory tracking control, the backbone reference set (curve fitting) has been applied to exploit the redundancy of two-dimensional space robot of multiple links. For kinematic control purpose, a limited number of joints are actuated. The hyper-redundant space robot has the advantage that manipulator can be configured differently through actuation of different joints. The concept of a limited number of joint actuation has further been extended for collision-free trajectory tracking in the workspace in the presence of obstacles. Collision avoidance is based on the configuration transformation approach where the joints are made active or fixed joint position to facilitate collision-free tip trajectory. Before configuration transformation, collision detection has been performed based on the pseudo-distance criterion. The bond graph technique has been used for the dynamic model of the system and to formulate system equations. The simulation and the animation results validated the successful execution of the proposed approaches for the curve-constrained collision-free trajectory planning.