Force-Position-Model Fusion Control of Free-floating Space Robots for Capturing Tumbling Targets
To capture a tumbling target in space,the space robots need to plan the motion of its end-effector,under the dynamics coupling constraint between the manipulator and the spacecraft base.Besides,as the relative velocity and motion mismatch between the end-effector and the target are unavoidable,the impact and resulting impulsive force will also bring an undesirable disturbance to the base.In order to decrease the base disturbance of space robots,a force-position-model fusion control(FPMFC)framework for space robots capturing tumbling targets is proposed.Firstly,the non-holonomic redundancy and motion redundancy of the free-floating space robot are represented as a position-model(PM)space.Therefore,a generalized state space is constructed,based on which the kinematics and dynamics model of the system are established.By optimizing the PM of the base and the manipulator,the disturbance resulted from capturing motion of the manipulator is reduced.Additionally,by optimizing the relative PM between the base,the manipulator and the target,the disturbance resulted from the impulsive force when making contact can be further decreased.Given the optimal PM and contact force,the force-position-model fusion control(FPMFC)framework is presented.Finally,the simulation results of several typical capturing tasks demonstrate the correctness and effectiveness of the proposed method.
On-orbit captureTumbling targetSpace robotMulti-objective optimizationForce-position-model fusion control
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