TY - GEN
T1 - On the autonomous target capturing of flexible-base space robotic system
AU - Meng, Deshan
AU - Liang, Bin
AU - Xu, Wenfu
AU - Wang, Xueqian
AU - Liu, Houde
AU - Zhu, Xiaojun
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - Autonomous target capturing is the key for space robot to perform on-orbital servicing tasks. To meet the requirement of complex and long-term task, large flexible appendages, such as solar paddles and antenna reflectors are usually mounted on the base of a space robot. Due to the structure vibration, it is very challenging to capture a free-floating target satellite. In this paper, we derived the kinematics equations and proposed the autonomous target capturing method for free-floating flexible-base space robots. The kinematics equation established the mapping from the base velocities, joint rates and elastic motion to the end-effector velocities. Based on this equation, we designed resolved motion rate control with vibration compensation for the space manipulator. Another contribution of this paper is that we modeled the dynamic coupling between the rigid movement of the end-effector and the flexible vibration of the solar paddles. Based on this model, we analyzed the coupling effect which was very important for the design of the manipulator and determining the trajectory planning and control strategy. At last, a simulation system was created and simulation studies of the proposed methods were carried out. The simulation results verify the proposed methods.
AB - Autonomous target capturing is the key for space robot to perform on-orbital servicing tasks. To meet the requirement of complex and long-term task, large flexible appendages, such as solar paddles and antenna reflectors are usually mounted on the base of a space robot. Due to the structure vibration, it is very challenging to capture a free-floating target satellite. In this paper, we derived the kinematics equations and proposed the autonomous target capturing method for free-floating flexible-base space robots. The kinematics equation established the mapping from the base velocities, joint rates and elastic motion to the end-effector velocities. Based on this equation, we designed resolved motion rate control with vibration compensation for the space manipulator. Another contribution of this paper is that we modeled the dynamic coupling between the rigid movement of the end-effector and the flexible vibration of the solar paddles. Based on this model, we analyzed the coupling effect which was very important for the design of the manipulator and determining the trajectory planning and control strategy. At last, a simulation system was created and simulation studies of the proposed methods were carried out. The simulation results verify the proposed methods.
KW - Dynamics Coupling
KW - Large Flexible Base
KW - Space Robot
KW - Target Capturing
KW - Vibration Compensation
UR - https://www.scopus.com/pages/publications/84949924673
U2 - 10.1109/ICARCV.2014.7064605
DO - 10.1109/ICARCV.2014.7064605
M3 - 会议稿件
AN - SCOPUS:84949924673
T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
SP - 1894
EP - 1899
BT - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Y2 - 10 December 2014 through 12 December 2014
ER -