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A space robot derotation and coordinated control method after capturing a target

A space robot and coordinated control technology, applied in attitude control, motor vehicles, aircraft, etc., can solve the problem that there are few studies on derotation motion planning, and achieve the effect of eliminating the spin motion of the target

Active Publication Date: 2021-03-16
NORTHWESTERN POLYTECHNICAL UNIV +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, little research has been done on derotational motion planning in the post-catch phase

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  • A space robot derotation and coordinated control method after capturing a target
  • A space robot derotation and coordinated control method after capturing a target
  • A space robot derotation and coordinated control method after capturing a target

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Embodiment Construction

[0026] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0027] Based on the particle swarm optimization algorithm, the invention proposes a derotation and coordination control method after the space robot captures the target. The reason for choosing a kinematically redundant manipulator is that it has infinitely many solutions, which can be exploited to satisfy additional constraints. First, the dynamic equation of the combination of the robot and the target after capture is established; then, the trajectory of the capture point on the target after capture is planned using the Bezier curve; in addition, the particle swarm optimization with adaptive inertia weights is used The algorithm searches for the optimal derotation time and the pose of the target at the final moment, and generates the reference derotation trajectory of the end of the manipulator. Finally, a coordinate...

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Abstract

The invention discloses a method for de-tumbling coordinated control for a space robot after target capturing. The method comprises: a kinetic equation of a combination body formed by a space robot after target capturing and a captured target is established; with a bezier curve, a track of a capturing point is plane after target capturing; optimal de-tumbling time and the post of the target are searched by using a particle swarm optimization algorithm with a constrained adaptive inertia weight and a reference de-tumbling track of a tail end of a mechanical arm is generated; and a coordinated control method that can stabilize the base posture and ensure the tracking of the reference de-tumbling track by the tail end is designed. The invention provides a de-tumbling strategy and coordinated control for a redundant space robot after rolling target capturing, wherein the method based on the particle swarm optimization algorithm has advantages of reduced considered energy and reduced de-tumbling time.

Description

technical field [0001] The invention belongs to the technical field of capturing targets by space robots and relates to a derotation and coordination control method after a space robot captures a target. Background technique [0002] The increasing demand for satellite maintenance, on-orbit assembly, and space debris removal requires space robots to perform tasks in specific harsh space environments. Specific examples include "Robot Technology Test (ROTEX)", "Engineering Test Satellite VII (ETS-VII)", "Orbital Express (OE)", "Robot Astronaut 2" and so on. According to the space robots currently planned by various space agencies in the world, the increase in the number and performance of robots in space missions is a foregone conclusion in the future. In these space robot projects, researchers are interested in performing space tasks in free-floating mode. For the post-capture stage, due to the relative motion between the space manipulator and the non-cooperative target, it...

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Application Information

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IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 王明明罗建军余敏袁建平朱战霞
Owner NORTHWESTERN POLYTECHNICAL UNIV