Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device

Zhengda Cheng; Fan Wu; Yunhai Geng

doi:10.1109/CAC57257.2022.10054781

Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device

Zhengda Cheng
, Fan Wu^*
, Yunhai Geng

^*Corresponding author for this work

School of Astronautics, Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a space manipulator with a magnetic capture device as the end-effector is designed, and it is used to capture a self-spin target. First of all, a kinematic equation and a dynamic equation are given, then a target approach strategy for the manipulator combined with fifth-order polynomial interpolation methods for trajectory planning is designed, and then an improved PD algorithm is adopted to achieve the trajectory tracking control. For the magnetic capture device, its suction model is established through experimental fitting, and a capture strategy is set according to its characteristics. Finally, a numerical simulation is designed to prove that the control strategy designed in this paper is reasonable and effective.

Original language	English
Title of host publication	Proceedings - 2022 Chinese Automation Congress, CAC 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4721-4728
Number of pages	8
ISBN (Electronic)	9781665465335
DOIs	https://doi.org/10.1109/CAC57257.2022.10054781
State	Published - 2022
Externally published	Yes
Event	2022 Chinese Automation Congress, CAC 2022 - Xiamen, China Duration: 25 Nov 2022 → 27 Nov 2022

Publication series

Name	Proceedings - 2022 Chinese Automation Congress, CAC 2022
Volume	2022-January

Conference

Conference	2022 Chinese Automation Congress, CAC 2022
Country/Territory	China
City	Xiamen
Period	25/11/22 → 27/11/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

end-effector
magnetic capture
non-cooperative target
space manipulator
tracking control

Access to Document

10.1109/CAC57257.2022.10054781

Cite this

Cheng, Z., Wu, F., & Geng, Y. (2022). Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device. In Proceedings - 2022 Chinese Automation Congress, CAC 2022 (pp. 4721-4728). (Proceedings - 2022 Chinese Automation Congress, CAC 2022; Vol. 2022-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CAC57257.2022.10054781

@inproceedings{e4d64287debd4ca3820b472230528280,

title = "Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device",

abstract = "In this paper, a space manipulator with a magnetic capture device as the end-effector is designed, and it is used to capture a self-spin target. First of all, a kinematic equation and a dynamic equation are given, then a target approach strategy for the manipulator combined with fifth-order polynomial interpolation methods for trajectory planning is designed, and then an improved PD algorithm is adopted to achieve the trajectory tracking control. For the magnetic capture device, its suction model is established through experimental fitting, and a capture strategy is set according to its characteristics. Finally, a numerical simulation is designed to prove that the control strategy designed in this paper is reasonable and effective.",

keywords = "end-effector, magnetic capture, non-cooperative target, space manipulator, tracking control",

author = "Zhengda Cheng and Fan Wu and Yunhai Geng",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 Chinese Automation Congress, CAC 2022 ; Conference date: 25-11-2022 Through 27-11-2022",

year = "2022",

doi = "10.1109/CAC57257.2022.10054781",

language = "英语",

series = "Proceedings - 2022 Chinese Automation Congress, CAC 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4721--4728",

booktitle = "Proceedings - 2022 Chinese Automation Congress, CAC 2022",

address = "美国",

}

Cheng, Z, Wu, F & Geng, Y 2022, Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device. in Proceedings - 2022 Chinese Automation Congress, CAC 2022. Proceedings - 2022 Chinese Automation Congress, CAC 2022, vol. 2022-January, Institute of Electrical and Electronics Engineers Inc., pp. 4721-4728, 2022 Chinese Automation Congress, CAC 2022, Xiamen, China, 25/11/22. https://doi.org/10.1109/CAC57257.2022.10054781

Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device. / Cheng, Zhengda; Wu, Fan ; Geng, Yunhai.
Proceedings - 2022 Chinese Automation Congress, CAC 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 4721-4728 (Proceedings - 2022 Chinese Automation Congress, CAC 2022; Vol. 2022-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device

AU - Cheng, Zhengda

AU - Wu, Fan

AU - Geng, Yunhai

PY - 2022

Y1 - 2022

N2 - In this paper, a space manipulator with a magnetic capture device as the end-effector is designed, and it is used to capture a self-spin target. First of all, a kinematic equation and a dynamic equation are given, then a target approach strategy for the manipulator combined with fifth-order polynomial interpolation methods for trajectory planning is designed, and then an improved PD algorithm is adopted to achieve the trajectory tracking control. For the magnetic capture device, its suction model is established through experimental fitting, and a capture strategy is set according to its characteristics. Finally, a numerical simulation is designed to prove that the control strategy designed in this paper is reasonable and effective.

AB - In this paper, a space manipulator with a magnetic capture device as the end-effector is designed, and it is used to capture a self-spin target. First of all, a kinematic equation and a dynamic equation are given, then a target approach strategy for the manipulator combined with fifth-order polynomial interpolation methods for trajectory planning is designed, and then an improved PD algorithm is adopted to achieve the trajectory tracking control. For the magnetic capture device, its suction model is established through experimental fitting, and a capture strategy is set according to its characteristics. Finally, a numerical simulation is designed to prove that the control strategy designed in this paper is reasonable and effective.

KW - end-effector

KW - magnetic capture

KW - non-cooperative target

KW - space manipulator

KW - tracking control

UR - https://www.scopus.com/pages/publications/85151142756

U2 - 10.1109/CAC57257.2022.10054781

DO - 10.1109/CAC57257.2022.10054781

M3 - 会议稿件

AN - SCOPUS:85151142756

T3 - Proceedings - 2022 Chinese Automation Congress, CAC 2022

SP - 4721

EP - 4728

BT - Proceedings - 2022 Chinese Automation Congress, CAC 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 Chinese Automation Congress, CAC 2022

Y2 - 25 November 2022 through 27 November 2022

ER -

Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device

Abstract

Publication series

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UN SDGs

Keywords

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