Target berthing and base reorientation of free-floating space robotic system after capturing |
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| Authors: | Wenfu Xu Cheng Li Bin Liang Yangsheng Xu Yu Liu Wenyi Qiang |
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| Institution: | 1. The Institute of Space Intelligent System, Harbin Institute of Technology, Harbin, PR China;2. Department of Automation and Computer-Aided Engineering, The Chinese University of Hong Kong, Hong Kong, PR China;1. Aerospace Engineering School, Beijing Institute of Technology, 100081, Beijing, P.R. China;2. National Laboratory for Information Science and Technology, Tinghua University, 100084, Beijing, P.R. China;1. Research Center for Intelligent Roboics, School of Astronautics, Northwestern Polytechnical University, 127 Youyi Road, Xi?an, Shannxi 710072, China;2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, 127 Youyi Road, Xi?an, Shannxi 710072, China;3. Department of Mechanical Engineering, McGill University, Montreal, Quebec, Canada;1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China;2. Shanghai Aerospace Control Engineering Institute, Shanghai, 200233, China;1. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi''an, 710072, China;2. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi''an, 710072, China;3. Department of Mechanical Engineering, York University, 4700 Keele Street, Toronto, Ontario, M3J 1P3, Canada;1. Science and Technology on Aerospace Flight Dynamics Laboratory, Northwestern Polytechnical University, 710072, Xi''an, China;2. Research Institute of Northwestern Polytechnical University in Shenzhen, 518057, Shenzhen, China;3. Institute of Astronautics, Technical University of Munich, 85748, Garching, Germany;1. National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, 710072 Xi''an, China;2. Research and Development Institute of Northwestern Polytechnical University in Qingdao, 266200 Qingdao, China |
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| Abstract: | Space robots are playing an increasingly important role in on-orbital servicing, including repairing, refueling, or de-orbiting the satellite. The target must be captured and berthed before the servicing task starts. However, the attitude of the base may lean much and needs re-orientating after capturing. In this paper, a method is proposed to berth the target, and re-orientate the base at the same time, using manipulator motion only. Firstly, the system state is formed of the attitude quaternion and joint variables, and the joint paths are parameterized by sinusoidal functions. Then, the trajectory planning is transformed to an optimization problem. The cost function, defined according to the accuracy requirements of system variables, is the function of the parameters to be determined. Finally, we solve the parameters using the particle swarm optimization algorithm. Two typical cases of the spacecraft with a 6-DOF manipulator are dynamically simulated, one is that the variation of base attitude is limited; the other is that both the base attitude and the joint rates are constrained. The simulation results verify the presented method. |
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