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Detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target

Chinese Journal of Aeronautics 2020年第3期33卷 1093-1106页

作者： Gang CHEN Yuqi WANG Yifan WANG Ji LIANG Long ZHANG Guangtang PAN School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China Key Laboratory of space Utilization Technology and Engineering Center for Space UtilizationChinese Academy of SciencesBeijing 100094China

The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling ***,it is necessary to reduce the target's rotation to a rate at which capture can be accomplished by the space *** this paper,a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is *** strategy can reduce the target's rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment *** rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction *** base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base *** main contributions of this paper are as follows:(1)The compliant control method is adopted to achieve a precise friction control,which can reduce the target angular velocity steadily;(2)The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task;(3)The detumbling strategy of dualarm space robot is designed considering base attitude stabilization,realizing coordinated planning of the base attitude and the *** strategy is verified by a dual-arm space robot with two 7-DOF(degrees of freedom)*** results show that,target with a rotation velocity of 20(°)/s can be effectively controlled to stop within 30 s,and the final deflection of the base attitude is less than 0.15°without affecting the target capture task,verifying the correctness and effectiveness of the *** to the tumbling target capture task,the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.

关键词： Detumbling strategy dual-arm space robot Free-floating base Friction control Tumbling target capturing

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The Fuzzy Neural Network Control Scheme With H∞ Tracking Characteristic of space robot System With dual-arm After Capturing a Spin spacecraft

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1417-1424页

作者： Jing Cheng Li Chen School of Aerospace Engineering Tsinghua UniversityBeijing 100084China School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350116China

In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are *** first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler *** on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer *** closed chain system is formed in the post-impact *** chain constraint equations are obtained by the constraints of closed-loop geometry and *** the closed chain constraint equations,the composite system dynamic equations are ***,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system *** order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking *** to the Lyapunov theory,the global stability is ***,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between *** last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results.

关键词： Capturing operation calm motion control closed chain system dual-arm space robot recurrent fuzzy neural network H∞tracking characteristic

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维普期刊数据库

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Contact detumbling toward a nutating target through deformable effectors and prescribed performance controller

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Journal of Systems Engineering and Electronics 2024年第3期35卷 753-768页

作者： ZANG Yue ZHANG Yao HU Quan LI Mou CHEN Yujun School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China China Academy of space Technology Beijing 100029China

Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact ***, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.

关键词： nutating target contact detumbling dual-arm space robot deformable end-effector prescribed performance controller

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