Coordinated Position and Attitude Control Method of Tethered Space Robot

被引：0
|
作者：
Xu, Xiudong [1 ]
Huang, Panfeng [2 ]
Ma, Jun [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710072, Shaanxi, Peoples R China
[2] Northwestern Polytech Univ, Sch Astronaut, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Shaanxi, Peoples R China
来源：
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2013年
关键词：
Tethered Space Robot; LQR; coordinated control; optimization; distribution;
D O I：
暂无
中图分类号：
Q [生物科学];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position control force of the operational robot. Then the optimization and distribution model of position control force is established, and the LQR control force is distributed to space tether and thrusters. Simultaneously, the relative attitude of the operational robot is stabilized using corresponding coordinated attitude stability strategy through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance for approaching the target.
引用
收藏
页码：1526 / 1531
页数：6
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