Postcapture dynamics of a spacecraft-manipulator-payload system

被引:43
作者
Cyril, X
Jaar, GJ
机构
[1] CAE Elect Ltd, Space Syst Engn, St Laurent, PQ H4L 4X4, Canada
[2] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada
关键词
D O I
10.2514/2.4491
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
Space manipulators will play an increasingly significant role in future space operations. They will handle payloads of varying geometric or physical properties depending on their missions. In the ideal case, the manipulator should approach the payload in such a manner that, at the time of capture, the relative velocity between the end-effector and the payload grapple point is zero. Then the capture will be without impact and a smooth one. In practice, however, this is not likely, and there will be a nonzero relative velocity between the end effector and the payload grapple point, leading to an impact, In this paper we study the dynamics of the manipulator, the mother spacecraft, and the payload after such a capture with an impact. The dynamic models of the spacecraft-manipulator system before capture and spacecraft-manipulator-payload system after capture are obtained using the Lagrangian formulation. An impact model is developed to calculate the changes in the generalized velocities caused by the impact. These are then used as initial conditions for simulation of the postimpact dynamics of the combined spacecraft-manipulator-payload system. Both rigid and flexible payloads are considered. The simulations show that the dynamics response can be significantly different depending on whether the capture is smooth or with an impact and whether the payload is flexible or rigid. If the dynamics are uncontrolled, the response can be undesirably large; a control scheme based on feedback linearization is proposed to avoid this.
引用
收藏
页码:95 / 100
页数:6
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