Reconfiguration Control Strategy for SSRMS-type Reconfigurable Space Manipulator Based on Passive Telescopic Links

doi:10.3901/JME.260218

Abstract

Abstract: The SSRMS-type reconfigurable space manipulator, based on passive telescopic links, can alter its scale by adjusting the lengths of two telescopic links. While inheriting the advantages of traditional SSRMS-type space manipulators, it possesses the capability of scale reconfigurability and is expected to play a significant role in future on-orbit missions. However, the passive telescoping scheme employed in its telescopic links poses challenges for the design of the reconfiguration operation controller. To address this, a joint torque optimization control method with singularity robustness is proposed to achieve precise control over the manipulator's reconfiguration operations. Firstly, the dynamic equations of the manipulator in reconfiguration operation mode are derived by employing a mapping projection operator-based dynamics modeling approach. Based on this, a Lyapunov-based controller is designed using the concept of linear projection operators. By sending drive torque commands solely to the active rotational joints, the released passive telescopic links can achieve the desired motion, thereby enabling the reconfiguration operation of the manipulator. Meanwhile, the controller ensures the minimization of active joint drive torques and the absence of any driving force at the released passive telescopic links. Subsequently, the damping least-squares inverse of the submatrix of the projection matrix in the motion constraint equation is introduced into the controller, endowing it with singularity robustness. Finally, simulation verification of reconfigurable operation control is conducted, and the results demonstrate that the proposed method is suitable for precise reconfiguration control tasks of the SSRMS-type reconfigurable space manipulator.

Key words: space manipulator, reconfigurable, dynamic modeling, joint torque optimization, singularity-robust control

CLC Number:

TP242

ZHAO Zhiyuan, ZHAO Jingdong, YANG Xiaohang, LIANG Xichang, WANG Chuanying, WAN Yi. Reconfiguration Control Strategy for SSRMS-type Reconfigurable Space Manipulator Based on Passive Telescopic Links[J]. Journal of Mechanical Engineering, 2026, 62(9): 26-41.

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260218

http://www.cjmenet.com.cn/EN/Y2026/V62/I9/26

References

[1] MA Boyu，JIANG Zainan，LIU Yang，et al. Advances in space robots for on-orbit servicing：A comprehensive review[J]. Advanced Intelligent Systems，2023，5(8)：2200397.
[2] NAIR M H，RAI M C，POOZHIYIL M，et al. Robotic technologies for in-orbit assembly of a large aperture space telescope：A review[J]. Advances in Space Research，2024，74(10)：5118-5141.
[3] XUE Zhihui，LIU Jinguo，WU Chenchen，et al. Review of in-space assembly technologies[J]. Chinese Journal of Aeronautics，2021，34(11)：21-47.
[4] GAO Yang，CHIEN S. Review on space robotics：Toward top-level science through space exploration[J]. Science Robotics，2017，2(7)：eaan5074.
[5] GIBBS G，SACHDEV S. Canada and the international space station program：Overview and status[J]. Acta Astronautica，2002，51(1-9)：591-600.
[6] 赵智远，杨晓航，徐梓淳，等. 新型SSRMS构型可重构空间机械臂的运动学奇异性分析[J]. 机械工程学报，2024，60(5)：19-35. ZHAO Zhiyuan，YANG Xiaohang，XU Zichun，et al. Kinematic singularity analysis of a novel SSRMS-type reconfigurable space manipulator[J]. Journal of Mechanical Engineering，2024，60(5)：19-35.
[7] MA O，BUHARIWALA K，ROGER N，et al. On the validation of SPDM task verification facility[J]. Journal of Robotic Systems，2004，21(5)：219–235.
[8] CRUIJSSEN H J，ELLENBROEK M，HENDERSON M，et al. The European robotic arm：A high-performance mechanism finally on its way to space[C]// The 42nd Aerospace Mechanisms Symposium. 2014：319-334.
[9] 刘宏，刘冬雨，蒋再男. 空间机械臂技术综述及展望[J]. 航空学报，2021，42(1)：33-46. LIU Hong，LIU Dongyu，JIANG Zainan. Review and prospect of space manipulator technology[J]. Acta Aeronautica et Astronautica Sinica，2021，42(1)：33-46.
[10] 丁希仑，陈一同，王成才，等. 空间机器人操作技术研究现状与展望[J]. 航空学报，2025，46(6)：294-322. DING Xilun，CHEN Yitong，WANG Chengcai，et al. Research status and prospect of space robot operation technology[J]. Acta Aeronautica et Astronautica Sinica，2025，46(6)：294-322.
[11] HU Gangxuan，Li Yanyan，Li Xinhong，et al. Modular self-reconfigurable spacecraft：Development status，key technologies，and application prospect[J]. Acta Astronautica，2023，207：240-256.
[12] 孟光，韩亮亮，张崇峰. 空间机器人研究进展及技术挑战[J]. 航空学报，2021，42(1)：8-32. MENG Guang，HAN Liangliang，ZHANG Chongfeng，et al. Research progress and technical challenges of space robot[J]. Acta Aeronautica et Astronautica Sinica，2021，42(1)：8-32.
[13] SICILIANO B，KHATIB O. Springer handbook of robotics[M]. Berlin：Springer，2016.
[14] SALEMI B，MOLL M，SHEN W M. SUPERBOT：A deployable，multi-functional，and modular self-reconfigurable robotic system[C]// 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE，2006：3636-3641.
[15] YIM M，SHEN W M，SALEMI B，et al. Modular self-reconfigurable robot systems [grand challenges of robotics][J]. IEEE Robotics & Automation Magazine，2007，14(1)：43-52.
[16] ZHAO Jingdong，ZHAO Zhiyuan，YANG Xiaohang，et al. Inverse kinematics and workspace analysis of a novel SSRMS-type reconfigurable space manipulator with two lockable passive telescopic links[J]. Mechanism and Machine Theory，2023，180：105152.
[17] RAIBERT M H，CRAIG J J. Hybrid position/force control of manipulators[J]. Journal of Dynamic Systems，Measurement，and Control，1981，103(2)：126-133.
[18] HOLLERBACH J，SUH K. Redundancy resolution of manipulators through torque optimization[J]. IEEE Journal on Robotics and Automation，1987，3(4)：308-316.
[19] NEDUNGADI A，KAZEROUINIAN K. A local solution with global characteristics for the joint torque optimization of a redundant manipulator[J]. Journal of Robotic Systems，1989，6(5)：631-654.
[20] HU B，TEO C，LEE H. Local optimization of weighted joint torques for redundant robotic manipulators[J]. IEEE Transactions on Robotics and Automation，1995，11(3)：422-425.
[21] KANG H J，FREEMAN R A. Joint torque optimization of redundant manipulators via the null space damping method[C]// 1992 IEEE International Conference on Robotics and Automation. IEEE，1992：520-521.
[22] CHUNG C Y，LEE B H，KIM M，et al. Torque optimizing control with singularity-robustness for kinematically redundant robots[J]. Journal of Intelligent and Robotic Systems，2000，28：231-258.
[23] CHEN T H，CHENG F T，SUN Y Y，et al. Torque optimization schemes for kinematically redundant manipulators[J]. Journal of Robotic Systems，1994，11(4)：257-269.
[24] KHUDIR K A，HALVORSEN G，LANARI L，et al. Stable torque optimization for redundant robots using a short preview[J]. IEEE Robotics and Automation Letters，2019，4(2)：2046-2053.
[25] Asgari M，Bonev I A，Gosselin C. Singularities of ABB’s YuMi 7-DOF robot arm[J]. Mechanism and Machine Theory，2025，205：105884.
[26] 管城豪. 可伸缩空间机械臂杆结构设计及其控制研究[D]. 哈尔滨：哈尔滨工业大学，2020. GUAN Chenghao. Research on the structure design and control of the telescopic space manipulator[D]. Harbin：Harbin Institute of Technology，2020.
[27] CRAIG J J. Introduction to robotics：mechanics and control，3/E[M]. Pearson Education India，2009.
[28] AGHILI F. A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator：Applications to control and simulation[J]. IEEE Transactions on Robotics，2005，21(5)：834-849.
[29] LASALLE J. Some extensions of Liapunov’s second method[J]. IRE Transactions on Circuit Theory，1960，7(4)：520-527.
[30] CHIAVERINI S，SICILIANO B，EGELAND O. Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator[J]. IEEE Transactions on Control Systems Technology，1994，2(2)：123-134.