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5th International Conference on Cognitive systems and Signal Processing, ICCSIP 2020

作者： Zhang, Xiaodong Ding, Pengchao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing100086 China Institute of Technology Harbin Heilongjiang150001 China

ISBN: (纸本)9789811623356

Hole-peg assembly using robot is widely used to validate the abilities of autonomous assembly task. Currently, the autonomous assembly is mainly depended on the high precision of position, force measurement and the compliant control method. The assembly process is complicated and the ability in unknown situations is relatively low. In this paper, a kind of assembly strategy based on deep reinforcement learning is proposed using the TD3 reinforcement learning algorithm based on DDPG and an adaptive annealing guide is added into the exploration process which greatly accelerates the convergence rate of deep reinforcement learning. The assembly task can be finished by the intelligent agent based on the measurement information of force-moment and the pose. In this paper, the training and verification of assembly verification is realized on the V-rep simulation platform and the UR5 manipulator. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Reinforcement learning

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Meter-Scale Thin-Walled Structure with Lattice Infill for Fuel Tank Supporting Component of Satellite:Multiscale Design and Experimental Verification

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Computer Modeling in Engineering & Sciences 2024年第1期138卷 201-220页

作者： Xiaoyu Zhang Huizhong Zeng Shaohui Zhang Yan Zhang Mi Xiao Liping Liu Hao Zhou Hongyou Chai Liang Gao Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of TechnologyBeijing100081China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan430081China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Lightweight thin-walled structures with lattice infill are widely desired in satellite for their high stiffness-to-weight ratio and superior buckling strength resulting fromthe sandwich *** structures can be fabricated bymetallic additive manufacturing technique,such as selective laser melting(SLM).However,the maximum dimensions of actual structures are usually in a sub-meter scale,which results in restrictions on their appliance in aerospace and other *** this work,a meter-scale thin-walled structure with lattice infill is designed for the fuel tank supporting component of the satellite by integrating a self-supporting lattice into the thickness optimization of the *** designed structure is fabricated by SLM of AlSi10Mg and cold metal transfer welding ***-static mechanical tests and vibration tests are both conducted to verify the mechanical strength of the designed large-scale lattice thin-walled *** experimental results indicate that themeter-scale thin-walled structure with lattice infill could meet the dimension and lightweight requirements of most spacecrafts.

关键词： Thin-walled structure lattice infill supporting component selective laser melting satellite

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Combined active and passive adaptive variable admittance compliant control for space robotic manipulators

Combined active and passive adaptive variable admittance com...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Gao, Hang Zhang, Xiaodong Ma, Chao Zhou, Cheng University of Science and Technology Beijing School of Mechanical Engineering Beijing100083 China Beijing Institute of Spacecraft System Engineering Cast Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application China

ISBN: (纸本)9798350325706

This paper develops a combined active and passive adaptive variable admittance compliant control algorithm for space robotic manipulators. In fact, the assembly task for space robots requires compliance and precision while ensuring avoidance of any occurrences of rigid collision throughout the process. Therefore, we design a new combined active and passive variable admittance control structure combined with the following three parts to meet these acquirements. Firstly, we develop an active variable admittance algorithm to facilitate the space robot rapid movement, enabling it to achieve higher speeds while maintaining compliance. Then, to mitigate the occurrence of unforeseen rigid collisions during the robot motion, we devise a passive variable admittance control algorithm, which aims to minimize the impact of collision events and ensure the robot safe operation. Furthermore, by employing the Lyapunov theory, a new active adaptive variable admittance control algorithm is presented for robot constant force output. Consequently, through contrast experiments, we demonstrate the effectiveness and enhanced performance of the proposed algorithm. © 2023 IEEE.

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Research of integration simulation system of space dual-arm robot

Research of integration simulation system of space dual-arm ...

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IEEE International Conference on robotics and Biomimetics, IEEE-ROBIO 2015

作者： Xiaodong, Zhang Yafang, Liu Yaobing, Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9781467396745

A set of integrated simulation system of space dual-arm robot is developed in the paper. Based on modular design concept, the system is composed of the communication module, task scheduling management module, path planning module, dynamic control module, 3D geometric model and collision detection module and the system uses C programming language and Visual Studio 2010 to realize the key algorithm while the entity model and the simulation scenarios are created by OSG (Open Scene Graph). Compared with other simulation methods, this method is stronger in visualization and post-processing, which can also realize closed-loop control of the key algorithm. Finally, the application simulations are implemented to verify the algorithms of coordinated space dual-arm robot by using this system. The results show the effectiveness of the system and verify the feasibility of mission planning. © 2015 IEEE.

关键词： Motion planning

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Development of a Landing Leg with Active Buffering and Anchoring Functions Applied to the Small Body Landing Mechanism 17

Development of a Landing Leg with Active Buffering and Ancho...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhao, Zhijun Xiao, Tao Tang, Zixin Gao, Xiangyu Liu, Xin Zhang, Wenming Liu, Bin Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing100092 China

ISBN: (纸本)9781728164151

It is microgravity on the small body, and its medium is unknown and diverse. The lander is easy to rebound or tip over when landing and easy to drift away after landing. Thus, the lander should have the functions such as cushioning, terrain adapting and anchoring. At present, the moon and Mars landers mostly use honeycomb aluminum to achieve passive buffering. Honeycomb aluminum has good buffering effect under heavy load. This paper proposes an electromagnetic damping and anchoring leg for the small body lander. The leg integrates the folding mechanism and the buffering mechanism as a part and can sense the landing force. This force signal is used to realize the buffering function of the landing leg. An ultrasonic drill is attached at the end of the landing leg to realize anchoring after landing. Landing and anchoring performances of the landing leg are tested. © 2020 IEEE.

关键词： Landing

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Research of Visual Servo Control System for space intelligent Robot

Research of Visual Servo Control System for Space Intelligen...

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2015 IEEE Advanced Information technology,Electronic and Automation Control Conference(IAEAC 2015)

作者： Liang Changchun Zhang Xiaodong Pan Dong Liu Xin Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

ISBN: (纸本)9781479919819

space intelligent robotic systems are expected to play an increasingly important role in the *** robotic onorbital service,whose key is the tracking and capturing technology,becomes research hot in recent *** this paper,the authors propose a vision servo control system for target *** manipulator will be an intelligent robotic system with large-scale movement,functional agility,and autonomous ability,and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation *** realize the autonomous movement and capture mission of SRM,a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better *** control system hierarchy is designed and reliability is considering to guarantee the abilities of control *** last,a ground experiment system is set up based on the concept of robotic control *** that,the autonomous target capturing experiments are *** experiment results validate the proposed algorithm,and demonstrates that the control system can fulfill the needs of function,real-time and reliability.

关键词： Control system On-orbital service space robot Vision servo

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Improved deep deterministic policy gradient algorithm based on prioritized sampling

Improved deep deterministic policy gradient algorithm based ...

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Chinese intelligent systems Conference, CISC 2018

作者： Zhang, HaoYu Xiong, Kai Bai, Jie Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing100190 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9789811322877

Deep reinforcement learning tends to have low sampling efficiency, and prioritized sampling algorithm can improve the sampling efficiency to a certain extent. The prioritized sampling algorithm can be used in deep deterministic policy gradient algorithm, and a small sample sorting method is proposed to solve the problem of high complexity of the common prioritized sampling algorithm. Simulation experiments prove that the improved deep deterministic policy gradient algorithm improves the sampling efficiency and the training performance is better. © Springer Nature Singapore Pte Ltd. 2019.

关键词： Reinforcement learning

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A New Recursive Composite Adaptive Controller for Robot Manipulators

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space(Science & technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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Data-driven Modeling of Nonlinear Joints in space Structures 41

Data-driven Modeling of Nonlinear Joints in Space Structures

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第41届中国控制会议

作者： Yonglei Zhang Xiaoyu Wang Xinyuan Li Hao Wen Shidong Xu State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The existence of nonlinear joints has a great influence on the dynamics of large flexible sapce *** a prerequisite of attitude control and vibration suppression of flexible spacecraft,it is of great importance to establish highconfidence models of joints to predict its dynamic characteristics ***,a single-degree-of-freedom model of the nonlinear joint is established based on the describing function method and harmonic balance method(HBM).In particular,the dynamic funtions of the joints with cubic stiffness and freeplay nonlinearity are derived,and the response and external excitation data are used to train surrogate models by a multi-step DNN *** validity of the data-driven modeling approach is further verified by response prediction under a different excition ***,the characteristic of an unknown nonlinearjoint is revealed by the data-driven modeling approach based on the experimental data.

关键词： Nonlinear joints space structures data-driven modeling response prediction

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A Survey of space robotic Technologies for On-Orbit Assembly

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space(Science & technology) 2022年第1期2022卷 325-337页

作者： Delun Li Lou Zhong Wei Zhu Zhipeng Xu Qirong Tang Wenhao Zhan Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijingChina College of Mechanical Engineering Tongji UniversityShanghaiChina National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijingChina

The construction of large structures is one of the main development trends of the space exploration in the future,such as large space stations,large space solar power stations,and large space *** is one of important development tendency,which aims to make full use of space robots to assemble space structures autonomously in the aerospace *** that on-orbit assembly is an effective method to solve the problem of construction of large-scale spatial structures,it is necessary to motivate and facilitate the research of space robotics technologies for on-orbit ***,in this paper,the development status of space robot technology and the relevant space robot on-orbit assembly technology in recent decades are ***,based on the space robot motion planning and assembly sequence planning,the development of space robot planning algorithms is *** space robot assembly task,the space robot assembly method is *** the control point of view,how to solve the vibration suppression and compliant assembly of on-orbit assembly is reviewed,which provides a reference for the autonomous intelligent assembly of space robots for large-scale structures in *** order to simulate the space assembly scene on the ground,this paper introduces the development of ground verification experiments and provides ideas for the effective verification of space on-orbit assembly *** summary,though some of these problems have been satisfactorily solved in the past research,further research is still necessary in the ***,it looks forward to the future research direction of space machine on-orbit assembly.

关键词： robot summarized autonomous

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