Dynamics and homing guidance for space manipulator capturing on-orbit target

被引：0

作者：

Han Y.-H. ^{[1
]}

机构：

[1] College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing

来源：

Han, Yan-Hua (hanyanhua@nuaa.edu.cn) | 2016年 / China Spaceflight Society卷 / 37期

关键词：

Homing guidance; Lagrange analytical mechanics; Non-inertial system; Space manipulator; Space target;

D O I：

10.3873/j.issn.1000-1328.2016.09.009

中图分类号：

学科分类号：

摘要：

The system dynamics modeling and homing guidance design are studied for the space manipulator whose carrier is flying freely governed by the homogeneous C-W equations around a space target. Under the target fixed rotating coordinate system, the non-inertial reference system based Lagrange analytical mechanics is used to derive the dynamics equations of the two-link robotic manipulator during capturing the space target. Then the homing guidance law of the end-effector of the manipulator is designed using the properly simplified dynamics model. Finally, numerical simulation for the closed loop dynamics is conducted by substituting the guidance law into the original complex dynamics model. The correctness of the model derived and the effectiveness of the guidance law designed are verified by the simulation results. © 2016, Editorial Dept. of JA. All right reserved.

引用

页码：1098 / 1106

页数：8

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