Relative navigation close range tracking method and system for space noncooperative target capturing

Abstract

The invention provides a relative navigation close range tracking method and system for space noncooperative target capturing. According to the relative navigation close range tracking method and system for space noncooperative target capturing, a kinematical equation of a free-floating space robot system is utilized to deduce and obtain a path planning method for a mechanical arm capturing a moving target, the relative speed and relative posture of the tail end of the mechanical arm and the target are taken as input, joint angle commands controlling the mechanical arm to move can be calculated and obtained, so that capturing operations of the mechanical arm on the moving target can be realized. By means of the relative navigation close range tracking method, in the process of close rangerelative navigation of a space robot on the moving noncooperative target, path planning for the relative position and posture of the tail end of the mechanical arm and the target and continuous inverse kinematics solution from Cartesian space to mechanical arm joint space can be independently realized, and especially for redundant mechanical arms, posture undisturbed planning for a base seat relative to inertial space can be realized.

Description

technical field [0001] The invention relates to a relative navigation short-distance tracking method and system for capturing non-cooperative targets in space, and belongs to the technical field of space manipulators. Background technique [0002] In-orbit service of space robots will play an increasingly important role in future space activities, such as satellite maintenance, large-scale space structure construction, space debris removal and other tasks, in order to reduce the risk of astronauts leaving the cabin and improve work efficiency. On-orbit service is especially suitable for non-cooperative satellites. Since faulty satellites generally do not have special capture devices and are often in a spinning or rolling state, it poses severe challenges to capture operations. [0003] The main difference between a space robot and a ground robot arm is that the base of the space robot is not fixed on the ground, but works in a microgravity environment. The dynamics and kine...

AI Technical Summary

Problems solved by technology

The enhanced interference map method plans the movement of the space manipulator to minimize the disturbance of the manipulator to the attitude of the base, but this method is very difficult to obtain the interference map for the multi-degree-of-freedom manipulator

The optimal spiral motion trajectory method uses the variational method to plan the joint path, which can make the end of the manipulator reach the desired inertial space position, and at the same time, adjust the attitude of the base to the desired value, but the convergence of this method will be affected by the dynamic singularity

The path planning method based on joint path parameterization is not affected by dynamic singularity, and the joint path is smooth, but the algorithm takes a long time to converge

The reactive zero-space method plans the motion of the manipulator without any impact on the attitude of the base, but this method is only applicable to the motion planning of kinematically redundant manipulators

At present, these methods have the following limitations in application: 1) Most of them assume that the base is in a free-floating state, that is, the base is not subject to any control; 2) Most of them focus on point-to-point path planning, and there are few studies on continuous path planning; 3 ) are mostly suitable for path planning of cooperative targets, and there are few studies on autonomous path planning of non-cooperative targets

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