Detumbling strategy and coordination control of kinematically redundant space robot after capturing a tumbling target

被引:70
作者
Wang, Mingming [1 ,2 ]
Luo, Jianjun [1 ,2 ]
Yuan, Jianping [1 ,2 ]
Walter, Ulrich [3 ]
机构
[1] Northwestern Polytech Univ, Sci & Technol Aerosp Flight Dynam Lab, Xian 710072, Peoples R China
[2] Northwestern Polytech Univ Shenzhen, Res 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
Detumbling strategy; Coordination control; Post-capture; Tumbling target; SLIDING MODE CONTROL; INITIAL ANGULAR-MOMENTUM; PARTICLE SWARM; PREDICTIVE CONTROL; JOINT SPACE; MANIPULATORS; ROBUST; TRACKING; STABILIZATION; CONVERGENCE;
D O I
10.1007/s11071-018-4106-4
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This paper focuses on the motion planning to detumble and control of a space robot to capture a non-cooperative target satellite. The objective is to construct a detumbling strategy for the target and a coordination control scheme for the space robotic system in post-capture phase. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling strategy for the post-capture phase is proposed based on the quartic Bzier curves and adaptive particle swarm optimization algorithm subject to the specific constraints. Both detumbling time and control torques were taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is designed to track the designed reference path while regulating the attitude of the chaser to a desired value. The space robot successfully dumps the initial velocity of the tumbling satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a seven degree-of-freedom redundant space manipulator, which demonstrates the feasibility and effectiveness of the proposed method.
引用
收藏
页码:1023 / 1043
页数:21
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