Coordinated hierarchical control of space robotic safe manipulation with load sharing

被引:8
作者
Wang, Mingming [1 ,2 ]
Li, Wei [1 ]
Luo, Jianjun [1 ,2 ]
Walter, Ulrich [3 ]
机构
[1] Northwestern Polytech Univ, Sch Astronaut, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Peoples R China
[2] Northwestern Polytech Univ Shenzhen, Res & Dev Inst, Shenzhen 518057, Peoples R China
[3] Tech Univ Munich, Inst Astronaut, D-85748 Garching, Germany
基金
中国国家自然科学基金;
关键词
Coordinated hierarchical control; External impedance; Load sharing; Space robot;
D O I
10.1016/j.actaastro.2022.10.030
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
This research explores an integrated control technique for a dual-armed space robot that has captured a tumbling satellite. The compliant behavior for safe manipulation in-orbit is achieved using the external impedance at the target level. First, considering the control moment constraints imposed on the target body, a fast detumbling strategy is proposed using dynamic movement primitives method with normalized time. Following the capturing of a non-cooperative target, a coordinated hierarchical control scheme is developed with multi-arm space robotic dynamics modeling to direct the space robot in carrying out the pre-planned detumbling strategy. The proposed control scheme incorporates external impedance, internal force control and load sharing. Finally, numerical simulation with a sample case of two collaborative seven-degree-of-freedom space robotic arms capturing a tumbling target satellite verifies the viability and efficacy of the presented control strategy.
引用
收藏
页码:360 / 372
页数:13
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