基于机器人柔性毛刷的空间翻滚目标消旋

A despun mechanism for a flexible deceleration brush is designed and installed at the end of the seven-degree-freedom robotic arm. Despun is achieved through a contact collision with the tumbling target sailboard. A dynamic model for the flexible deceleration brush is derived by using the absolute nodal coordinate formulation, and the contact collision of the brush is analyzed. The dynamic modeling of the free-floating space robot and the control of the base attitude are studied. By using the sliding mode control based on the computed torque method, a seven-degree-freedom robotic arm with uncertain terminal parameters is controlled. The sliding mode control has the characteristics of fast response and in-sensitivity to parameter changes and disturbance, ensuring the global robustness and stability of the system. It is beneficial to reduce the despun time and improves the efficiency of the despun. The results of despun simulation of PD control and sliding mode control show that the strategy can successfully eliminate the initial rotation speed. The degree of despun is over 90%, which is feasible and effective.