A Relative Navigation Close-Range Tracking Method and System for Space Non-cooperative Target Capture

Abstract

A relative navigation short-distance tracking method and system for non-cooperative target capture in space. Using the kinematic equations of a free-floating space robot system, a path planning method for a manipulator to capture a moving target is derived. The distance between the end of the manipulator and the target The relative velocity and relative attitude are input, and the joint angle command to control the movement of the manipulator can be calculated, so that the manipulator can realize the capture operation of the moving target. Through this method, in the short-range relative navigation process of the space robot to the moving non-cooperative target, the path planning of the relative position and attitude between the end of the manipulator and the target can be realized autonomously, and the continuous inverse kinematics from the Cartesian space to the joint space of the manipulator Solving, especially for redundant manipulators, enables disturbance-free planning of the attitude of the base relative to inertial space.

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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