TY - GEN
T1 - A Trajectory Planning Method for Rapid Capturing an Unknown Space Tumbling Target
AU - Peng, Jianqing
AU - Xu, Wenfu
AU - Hu, Zhonghua
AU - Liang, Bin
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/4/10
Y1 - 2019/4/10
N2 - A malfunctioned satellite or other space debris bringing great challenge to capture and remove it. In this paper, we propose an efficient trajectory planning method for rapid capturing of a space tumbling target. Firstly, the kinematics model of a dual-arm space robot is deduced in details. Secondly, the motion characteristics of a tumbling target are then analyzed. Thirdly, an efficient trajectory planning method for rapid capturing of the space tumbling target is presented. It improves the speed of the capturing process. Finally, the simulation environment is created and the proposed method is verified. The simulation results show that the proposed trajectory planning method of the dual-arm space robot is effectively for tumbling target capturing. The proposed method is very important for the future applications.
AB - A malfunctioned satellite or other space debris bringing great challenge to capture and remove it. In this paper, we propose an efficient trajectory planning method for rapid capturing of a space tumbling target. Firstly, the kinematics model of a dual-arm space robot is deduced in details. Secondly, the motion characteristics of a tumbling target are then analyzed. Thirdly, an efficient trajectory planning method for rapid capturing of the space tumbling target is presented. It improves the speed of the capturing process. Finally, the simulation environment is created and the proposed method is verified. The simulation results show that the proposed trajectory planning method of the dual-arm space robot is effectively for tumbling target capturing. The proposed method is very important for the future applications.
UR - https://www.scopus.com/pages/publications/85064973815
U2 - 10.1109/CYBER.2018.8688292
DO - 10.1109/CYBER.2018.8688292
M3 - 会议稿件
AN - SCOPUS:85064973815
T3 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
SP - 230
EP - 235
BT - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Y2 - 19 July 2018 through 23 July 2018
ER -