TY - GEN
T1 - Ground micro-gravity verification of free-floating non-cooperative satellite docking
AU - Yang, Haitao
AU - Jin, Minghe
AU - Xie, Zongwu
AU - Zhang, Yu
AU - Sun, Kui
AU - Zhao, Xiaoyu
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/25
Y1 - 2015/8/25
N2 - Ground micro-gravity verification and test for the on-orbit docking operation of non-cooperative target satellites in 3-dimensional space based on two 6-DOF industrial robots is essential and significant owing to the high risk and cost and the influence of the earth gravity. The development of ground micro-gravity verification system mainly adopts the hybrid simulation method, which includes the real contact hardware test experiment and the virtual software simulation. To realize the emulation of ground micro-gravity environment, the gravity compensation algorithm of the non-cooperative target satellites is necessary in the system. The admittance control method is adopted to realize the soft docking function to ensure the success of the docking mission, which mainly simulates the real contact force and the real motion state during the docking process in space. The ground verification experiment results show that servicing satellite can successfully dock or capture the free-floating non-cooperative target satellites in 3-dimensional space.
AB - Ground micro-gravity verification and test for the on-orbit docking operation of non-cooperative target satellites in 3-dimensional space based on two 6-DOF industrial robots is essential and significant owing to the high risk and cost and the influence of the earth gravity. The development of ground micro-gravity verification system mainly adopts the hybrid simulation method, which includes the real contact hardware test experiment and the virtual software simulation. To realize the emulation of ground micro-gravity environment, the gravity compensation algorithm of the non-cooperative target satellites is necessary in the system. The admittance control method is adopted to realize the soft docking function to ensure the success of the docking mission, which mainly simulates the real contact force and the real motion state during the docking process in space. The ground verification experiment results show that servicing satellite can successfully dock or capture the free-floating non-cooperative target satellites in 3-dimensional space.
UR - https://www.scopus.com/pages/publications/84951090968
U2 - 10.1109/AIM.2015.7222710
DO - 10.1109/AIM.2015.7222710
M3 - 会议稿件
AN - SCOPUS:84951090968
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1253
EP - 1258
BT - AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Y2 - 7 July 2015 through 11 July 2015
ER -