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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| Format: | Article |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10945832/ |
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| author | Chen Li Yayun Wu Zixuan Zheng |
| author_facet | Chen Li Yayun Wu Zixuan Zheng |
| author_sort | Chen Li |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-08e0c9b95bcd4a27967e2dbea82a9600 |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-08e0c9b95bcd4a27967e2dbea82a96002025-08-20T02:11:37ZengIEEEIEEE Access2169-35362025-01-0113617936180410.1109/ACCESS.2025.355601010945832Trajectory Optimization for Non-Prehensile Manipulation of Space RobotsChen Li0https://orcid.org/0000-0002-0626-0052Yayun Wu1Zixuan Zheng2https://orcid.org/0000-0002-2132-6478College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling, Xianyang, ChinaShanghai Institute of Satellite Engineering, Minhang, Shanghai, ChinaSchool of Astronautics, Northwestern Polytechnical University, Xi’an, ChinaThe 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.https://ieeexplore.ieee.org/document/10945832/On-orbit servicingspace robotnon-prehensile manipulationtrajectory optimizationlinear complementarity problem |
| spellingShingle | Chen Li Yayun Wu Zixuan Zheng Trajectory Optimization for Non-Prehensile Manipulation of Space Robots IEEE Access On-orbit servicing space robot non-prehensile manipulation trajectory optimization linear complementarity problem |
| title | Trajectory Optimization for Non-Prehensile Manipulation of Space Robots |
| title_full | Trajectory Optimization for Non-Prehensile Manipulation of Space Robots |
| title_fullStr | Trajectory Optimization for Non-Prehensile Manipulation of Space Robots |
| title_full_unstemmed | Trajectory Optimization for Non-Prehensile Manipulation of Space Robots |
| title_short | Trajectory Optimization for Non-Prehensile Manipulation of Space Robots |
| title_sort | trajectory optimization for non prehensile manipulation of space robots |
| topic | On-orbit servicing space robot non-prehensile manipulation trajectory optimization linear complementarity problem |
| url | https://ieeexplore.ieee.org/document/10945832/ |
| work_keys_str_mv | AT chenli trajectoryoptimizationfornonprehensilemanipulationofspacerobots AT yayunwu trajectoryoptimizationfornonprehensilemanipulationofspacerobots AT zixuanzheng trajectoryoptimizationfornonprehensilemanipulationofspacerobots |