Trajectory Optimization for Non-Prehensile Manipulation of Space Robots
The increasing demand for on-orbit servicing tasks has driven advancements in space robotics. Traditional capture-based manipulation methods are limited by the need for customized grasping mechanisms and target-specific designs, reducing adaptability for uncooperative or docking-less targets. Non-pr...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10945832/ |
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| Summary: | The increasing demand for on-orbit servicing tasks has driven advancements in space robotics. Traditional capture-based manipulation methods are limited by the need for customized grasping mechanisms and target-specific designs, reducing adaptability for uncooperative or docking-less targets. Non-prehensile manipulation through contact offers a promising alternative for OOS, especially in low-gravity environments. However, the complexity of contact interactions have posed significant challenges to progress in this area. This paper proposes a mode-invariant trajectory optimization method for non-prehensile manipulation. The proposed approach combines complementarity constraints with a direct trajectory optimization framework and employs sequential quadratic programming solvers to generate contact-aware trajectories for non-prehensile manipulations. Simulations involving a 7-degree-of-freedom space robot reorienting a target object demonstrate the method’s feasibility and effectiveness. The results show the capability to produce physically realistic and efficient trajectories, enabling complex tasks without relying on capturing mechanisms. |
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| ISSN: | 2169-3536 |