Detumbling strategy and coordination control of kinematically redundant space robot after capturing a tumbling target
This paper focuses on the motion planning to detumble and control of a space robot to capture a non-cooperative target satellite. The objective is to construct a detumbling strategy for the target and a coordination control scheme for the space robotic system in post-capture phase. First, the dynami...
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| Published in | Nonlinear dynamics Vol. 92; no. 3; pp. 1023 - 1043 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
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Dordrecht
Springer Netherlands
01.05.2018
Springer Nature B.V |
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| Abstract | This paper focuses on the motion planning to detumble and control of a space robot to capture a non-cooperative target satellite. The objective is to construct a detumbling strategy for the target and a coordination control scheme for the space robotic system in post-capture phase. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling strategy for the post-capture phase is proposed based on the quartic B
e
´
zier curves and adaptive particle swarm optimization algorithm subject to the specific constraints. Both detumbling time and control torques were taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is designed to track the designed reference path while regulating the attitude of the chaser to a desired value. The space robot successfully dumps the initial velocity of the tumbling satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a seven degree-of-freedom redundant space manipulator, which demonstrates the feasibility and effectiveness of the proposed method. |
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| AbstractList | This paper focuses on the motion planning to detumble and control of a space robot to capture a non-cooperative target satellite. The objective is to construct a detumbling strategy for the target and a coordination control scheme for the space robotic system in post-capture phase. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling strategy for the post-capture phase is proposed based on the quartic B
e
´
zier curves and adaptive particle swarm optimization algorithm subject to the specific constraints. Both detumbling time and control torques were taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is designed to track the designed reference path while regulating the attitude of the chaser to a desired value. The space robot successfully dumps the initial velocity of the tumbling satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a seven degree-of-freedom redundant space manipulator, which demonstrates the feasibility and effectiveness of the proposed method. This paper focuses on the motion planning to detumble and control of a space robot to capture a non-cooperative target satellite. The objective is to construct a detumbling strategy for the target and a coordination control scheme for the space robotic system in post-capture phase. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling strategy for the post-capture phase is proposed based on the quartic B\[\acute{\text{ e }}\]zier curves and adaptive particle swarm optimization algorithm subject to the specific constraints. Both detumbling time and control torques were taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is designed to track the designed reference path while regulating the attitude of the chaser to a desired value. The space robot successfully dumps the initial velocity of the tumbling satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a seven degree-of-freedom redundant space manipulator, which demonstrates the feasibility and effectiveness of the proposed method. This paper focuses on the motion planning to detumble and control of a space robot to capture a non-cooperative target satellite. The objective is to construct a detumbling strategy for the target and a coordination control scheme for the space robotic system in post-capture phase. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling strategy for the post-capture phase is proposed based on the quartic Be´zier curves and adaptive particle swarm optimization algorithm subject to the specific constraints. Both detumbling time and control torques were taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is designed to track the designed reference path while regulating the attitude of the chaser to a desired value. The space robot successfully dumps the initial velocity of the tumbling satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a seven degree-of-freedom redundant space manipulator, which demonstrates the feasibility and effectiveness of the proposed method. |
| Author | Luo, Jianjun Wang, Mingming Yuan, Jianping Walter, Ulrich |
| Author_xml | – sequence: 1 givenname: Mingming orcidid: 0000-0002-1287-2733 surname: Wang fullname: Wang, Mingming organization: Science and Technology on Aerospace Flight Dynamics Laboratory, Northwestern Polytechnical University, Research Institute of Northwestern Polytechnical University in Shenzhen – sequence: 2 givenname: Jianjun surname: Luo fullname: Luo, Jianjun email: jjluo@nwpu.edu.cn organization: Science and Technology on Aerospace Flight Dynamics Laboratory, Northwestern Polytechnical University, Research Institute of Northwestern Polytechnical University in Shenzhen – sequence: 3 givenname: Jianping surname: Yuan fullname: Yuan, Jianping organization: Science and Technology on Aerospace Flight Dynamics Laboratory, Northwestern Polytechnical University, Research Institute of Northwestern Polytechnical University in Shenzhen – sequence: 4 givenname: Ulrich surname: Walter fullname: Walter, Ulrich organization: Institute of Astronautics, Technical University of Munich |
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| Keywords | Post-capture Coordination control Tumbling target Detumbling strategy |
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| SubjectTerms | Adaptive algorithms Attitudes Automotive Engineering Classical Mechanics Computer simulation Control Control systems design Coordination Dynamical Systems Engineering Grasping (robotics) Mechanical Engineering Motion planning Original Paper Particle swarm optimization Redundancy Robot control Robots Space robots Strategy Tumbling Vibration |
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| Title | Detumbling strategy and coordination control of kinematically redundant space robot after capturing a tumbling target |
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