Approaching contact method of rigid-flexible variable mechanism to space target

Abstract

The invention relates to an approaching contact method of a rigid-flexible variable mechanism to a space target, relates to obstacle avoidance path planning and dynamics modeling and control of the rigid-flexible variable mechanism, and belongs to the field of spacecraft dynamics and control. According to the method, firstly, a hectometer-magnitude mechanical arm in a low-rigidity mode is ejected and released to quickly approach a target, and in the approaching process, obstacle avoidance path planning is carried out on an end effector; and after the end effector approaches to the non-cooperative target, a high-interference-resistance contact task is carried out, interference torque generated when the mechanical arm collides with fragments is reduced by adjusting the joint rigidity of the mechanical arm, and the mechanical arm is restored to the large joint rigidity after collision is finished. The method combines the advantages of a mechanical arm and a space rope system capturing and removing method, has the advantages of being wide in operable range, high in path planning real-time performance and high in disturbance resistance in the contact process, and provides favorable conditions for follow-up high-precision and reliable capturing.

Description

technical field [0001] The invention relates to a method for approaching and contacting a space target by a rigid-flexible variable mechanism, relates to obstacle avoidance path planning, dynamic modeling and control of a rigid-flexible variable mechanism, and belongs to the field of spacecraft dynamics and control. Background technique [0002] At present, the number of debris in outer space presents a trend of rapid growth. A large amount of space debris not only occupies precious orbital resources, but also poses a threat to normal spacecraft, so it is necessary to actively remove space debris. Capture and removal is one of the effective methods for active removal of space debris. At present, the methods of capture and removal mainly include rigid manipulator and flexible space tether method. [0003] The traditional rigid robotic arm has the advantages of high control precision and strong load capacity, but because its arm length is usually on the order of ten meters, t...

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Problems solved by technology

[0003] The traditional rigid robotic arm has the advantages of high control precision and strong load capacity, but because its arm length is usually on the order of ten meters, the parent star needs to approach the space debris before it can carry out subsequent clearance tasks, which makes the parent star The risk of star-to-debris collisions is greatly increased, and when the parent star is performing attitude control during close-range capture, the pulse generated by the thruster may also cause the position of the control target to drift; on the other hand, for space debris such as For non-cooperative targets, the mechanical arm will inevitably collide with the debris during the contact and capture process, resulting in impacts, causing the mother star to be affected by the disturbance torque, which may destroy the stability of the entire system, resulting in the failure of the entire clearing task

[0004] The space tether capture and removal method has the advantages of wide operating range and strong interference immunity, but the dynamic characteristics of large flexible tether structures are often very complex, making theoretical analysis and simulation calculations very difficult in the capture phase; , the ability of the whole rope drag system to control the debris is also lacking compared to the mechanical arm

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