Abstract
Because of the limited working hours of astronauts in the space station, the in-cabin robot has high value in the technological validation and scientific research. Based on this requirement, we proposed and designed an Astronaut Assisted Robot(AAR) working in the space station. It can float in the space station cabin, fly autonomously, and hold a fixed position and/or posture. In addition, it also possesses environmental awareness capabilities and intelligence. Thus the AAR can assist astronauts to complete some special scientific experiments or technical tests. In this paper, the system architecture and experimental equipment of the AAR are designed firstly depending on the characteristics of space microgravity environment and the requirements of assisting astronauts missions. And then, the motion principles of the AAR are analyzed and the robot’s dynamic model is established by using the Newton - Euler algorithm. Since the attitude control of the robot is the basis for its free movement, the PID Neural Network( PIDNN) algorithm, which is a kind of intelligent control algorithm, is used to design the attitude controller of the AAR. Finally, the reasonability of the robot’s structural design and the availability of its attitude controllers are verified through the simulation experiments.
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Recommended by Associate Editor Wen-Hua Chen under the direction of Editor Duk-Sun Shim. This work was supported in part by the National Science Foundation of China (51175494, 51575544), Macau Science and Technology Development Fund (108/2012/A3), the State Key Laboratory of Robotics Foundation, and Research Committee of University of Macau (MYRG2015-00194-FST).
Jinguo Liu received his Ph.D. degree in robotics from Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS) in 2007. Since January 2011, he has been a Full Professor with SIA, CAS. He also holds the Assistant Director position of State Key Laboratory of Robotics (China) from March 2008. His research interests include modular robot, rescue robot, space robot, and bio-inspired robot. He has authored and coauthored over eighty papers and thirty patents in above areas.
Qing Gao is a Ph.D. Candidate of Shenyang Institute of Automation (SIA). He received his B.S. degree from Liaoning Technology University. His main research interests include space robot, intelligent control and multi-spacecraft formation flying control.
Zhiwei Liu is a Master student of Shenyang Ligong University and a research assistant in Shenyang Institute of Automation (SIA). His main research interests include robot, the theory and application of the modern mechanical design.
Yangmin Li received his B.S. and M.S. degrees from the Mechanical Engineering Department, Jilin University, Changchun, China, in 1985 and 1988 respectively. He received Ph.D. degree from the Mechanical Engineering Department, Tianjin University, Tianjin, China in 1994. After that, he worked as Postdoctoral Research Associate in Purdue University, USA. He is currently a Full Professor at Faculty of Science and Technology, University of Macau. He is also an Overseas Distinguished Scholar at Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS). His research interests are mobile robots, swarm intelligence, and micro/nano manipulation. Up to now he has published 360 papers in refereed book chapters, journals and conferences. He is an IEEE senior member, a member of ASME and CSME. He is serving as Associate Editor of International Journal of Control, Automation, and Systems, Associate Editor of IEEE Transactions on Automation Science Engineering, Associate Editor of Mechatronics, Council Member and Editor of Chinese Journal of Mechanical Engineering, Associate Editor of IEEE Access. He was a Technical Editor of IEEE/ASME Transactions on Mechatronics.
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Liu, J., Gao, Q., Liu, Z. et al. Attitude control for astronaut assisted robot in the space station. Int. J. Control Autom. Syst. 14, 1082–1095 (2016). https://doi.org/10.1007/s12555-014-0568-4
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DOI: https://doi.org/10.1007/s12555-014-0568-4