Capture of Non-cooperative Target Using 7-DOF Manipulator

被引：0

作者：

Du Ye ^{[1
]}

Ma Guangfu ^{[1
]}

Chen Liangming ^{[1
]}

Guo Yanning ^{[1
]}

机构：

[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin 150001, Heilongjiang, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年

基金：

中国博士后科学基金; 中国国家自然科学基金;

关键词：

space manipulator; non-cooperative target; tracking trajectory;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

On-orbit capturing of the non-cooperative target using manipulator is one of the greatest challenges for the current space technology. With the consideration of this problem, inverse kinematics and control method of a 7-DOF manipulator for capturing non-cooperative target are investigated in this paper. To avoid joint limits, singularities, and obstacles during tracking the desired end-effector trajectory, motion characteristics of the non-cooperative target are firstly analyzed to get the Jacobi matrix of the manipulator. Then, the weighted least-norm solution based scheme is adopted to reach real-time control of the manipulator. Finally, to show the feasibility of the proposed method, numerical simulation results are included for illustration.

引用

页码：6021 / 6026

页数：6

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