An integrated control scheme for space robot after capturing non-cooperative target

作者：Wang, Mingming; Luo, Jianjun^*; Yuan, Jianping^*; Walter, Ulrich

来源：Acta Astronautica, 2018, 147: 350-363.

DOI：10.1016/j.actaastro.2018.04.016

• Space robot
• Detumbling strategy
• Impedance control
• Parameter identification
• Post-capture

How to identify the mass properties and eliminate the unknown angular momentum of space robotic system after capturing a non-cooperative target is of great challenge. This paper focuses on designing an integrated control framework which includes detumbling strategy, coordination control and parameter identification. Firstly, inverted and forward chain approaches are synthesized for space robot to obtain dynamic equation in operational space. Secondly, a detumbling strategy is introduced using elementary functions with normalized time, while the imposed end-effector constraints are considered. Next, a coordination control scheme for stabilizing both base and end-effector based on impedance control is implemented with the target's parameter uncertainty. With the measurements of the forces and torques exerted on the target, its mass properties are estimated during the detumbling process accordingly. Simulation results are presented using a 7 degree-of-freedom kinematically redundant space manipulator, which verifies the performance and effectiveness of the proposed method.

• 出版日期2018-6
• 单位西北工业大学