On Orbit Capture and Control of Space Manipulator Based on Magneto Rheological

With the rapid development of space technology, the performance and technology of spacecraft is in the continuous improvement. The key technology for the non-cooperative target satellite on-orbit capture and control becomes very important. For the question of on orbit capturing a non-cooperative tar...

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Bibliographic Details
Published inIOP conference series. Materials Science and Engineering Vol. 685; no. 1; pp. 12001 - 12006
Main Authors Wang, Chao, Wang, Jianwei, Fang, Dong, Li, Donglin, Zhang, Ying, Kong, Dalin
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.11.2019
Subjects
Algorithms
Angular velocity
Continuous improvement
Control algorithms
Control theory
Dynamic models
Manipulators
Rheological properties
Rheology
Space robots
Spacecraft recovery
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Summary:With the rapid development of space technology, the performance and technology of spacecraft is in the continuous improvement. The key technology for the non-cooperative target satellite on-orbit capture and control becomes very important. For the question of on orbit capturing a non-cooperative target, a method based on Magneto Rheological (MR) damper is proposed. There are many successful applications of MR damper in ground-base and aviation systems. However, the application of this device on a space manipulator has not been addressed yet. In this paper, A 6DOFs space robot is built in Maplesim, and analyses the kinematic and dynamic model, and the component of MR damper is also created, after simulation, the results shows that the angular velocities of joints and base has been smoothly dampen. Although the control algorithm is simple, it's very valuable to use the MR damper in capture non-cooperative target.
ISSN:1757-8981
1757-899X
DOI:10.1088/1757-899X/685/1/012001