An integrated control scheme for space robot after capturing non-cooperative target. (June 2018)

• Record Type: Journal Article
• Authors: Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich
• Is Part Of: Acta astronautica. Volume 147(2018)
• Page Start: 350
• Page End: 363
• Publication Date: 2018-06
• Subjects: Space robot -- Detumbling strategy -- Impedance control -- Parameter identification -- Post-capture; Astronautics -- Periodicals; Outer space -- Exploration -- Periodicals; Astronautics; Periodicals; 629.405
• DOI: 10.1016/j.actaastro.2018.04.016
• Languages: English
• ISSNs: 0094-5765

Abstract

Abstract: 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. Highlights: Dynamic equations of space robot in operational space were derived. Elementary functions were used to delineate the target's detumbling path. A coordination control scheme was implemented both for base and end-effector. Target mass properties were estimated during detumbling process.