Source Title: International Journal of Intelligent Robotics and Applications, Quartile: Q2, DOI Link
View abstract ⏷
The trajectory of a space robot poses challenges due to its floating base, irregular surfaces, and unexpected circumstances. Combining redundant space robots with a control system offers a highly effective and efficient solution. The aim of this study is to present a trajectory control method for commanding two redundant space robots, capable of handling distinct floats. Controllers are employed to regulate the direction and location of robot tips within space robotic systems. These controllers continually analyse the variance between expected and actual set points, calculating control outputs for manipulating various floating objects using a pair of cooperative redundant space robots. The bond graph formulation is utilized for modeling and simulation of the two redundant space robots. The proposed method demonstrates significant accuracy, as per simulation findings
Patents
Projects
Scholars
Interests
Control Systems
Motion Planning
Optimization
Robotics – Kinematics & Dynamics
Thought Leaderships
There are no Thought Leaderships associated with this faculty.
Top Achievements
Education
2006
BTech
Acharya Nagarjuna University
India
2009
M.Tech
IIT Roorkee
India
2019
PhD
IIT Roorkee
India
Experience
August 2009 to December 2009- Lecturer- DIT, Dehradun
January 2010 to December 2014-Assistant Professor-Raghu Institute of Technology, Visakhapatnam
October 2019 to January 2020-Post Doctoral Fellow- IIT Kanpur
February 2020 to April 2024-Assistant Professor-Raghu Institute of Technology, Visakhapatnam
Research Interests
Mobile manipulator motion planning through optimization.
Development of inverse kinematics solutions for robot manipulators.
Development of novel control and its application to robots.
Awards & Fellowships
Aug. 2007 to June 2009 – MHRD Fellowship during M.Tech – IIT Roorkee
Dec. 2014 to Sept. 2019 – MHRD Fellowship during Ph.D. – IIT Roorkee
Memberships
No data available
Publications
Trajectory control in redundant space robot systems: a comparative evaluation of various float mechanisms
Source Title: International Journal of Intelligent Robotics and Applications, Quartile: Q2, DOI Link
View abstract ⏷
The trajectory of a space robot poses challenges due to its floating base, irregular surfaces, and unexpected circumstances. Combining redundant space robots with a control system offers a highly effective and efficient solution. The aim of this study is to present a trajectory control method for commanding two redundant space robots, capable of handling distinct floats. Controllers are employed to regulate the direction and location of robot tips within space robotic systems. These controllers continually analyse the variance between expected and actual set points, calculating control outputs for manipulating various floating objects using a pair of cooperative redundant space robots. The bond graph formulation is utilized for modeling and simulation of the two redundant space robots. The proposed method demonstrates significant accuracy, as per simulation findings
Source Title: International Journal of Intelligent Robotics and Applications, Quartile: Q2, DOI Link
View abstract ⏷
The trajectory of a space robot poses challenges due to its floating base, irregular surfaces, and unexpected circumstances. Combining redundant space robots with a control system offers a highly effective and efficient solution. The aim of this study is to present a trajectory control method for commanding two redundant space robots, capable of handling distinct floats. Controllers are employed to regulate the direction and location of robot tips within space robotic systems. These controllers continually analyse the variance between expected and actual set points, calculating control outputs for manipulating various floating objects using a pair of cooperative redundant space robots. The bond graph formulation is utilized for modeling and simulation of the two redundant space robots. The proposed method demonstrates significant accuracy, as per simulation findings
