A Novel Strategy for Dual-arm Space Robots to Detumble Rotational Targets in Post-capturing Phase
In this paper,a coordinated collision-free detumbling strategy(CCFDS)for dual-arm space robot was proposed to detumble rotational targets in the post-capturing phase.This method consisted the planning of the detumbling trajectory and the coordinate control of the dual-arm space robot.Based on the improved acceleration potential field(AccPF∗),a detumbling trajectory meth-od was proposed,which could guide the space robot as well as the target to the terminal rest.In or-der to enhance its performance in collision avoidance,both the relative positions and the relative ve-locities between the space robot and obstacles were considered as inputs for this trajectory planning.Subsequently,by establishing the dynamic model of the closed-chain system in the post-capturing phase,a coordinated control scheme was designed to ensure the precise tracking of the planned traj-ectory.Simulation results showed that a dual-arm space robot with the CCFDS was able to decrease the momentum of a grasped target to zero and guaranteed collision avoidance between the robot and the nearby obstacle in the meantime,which validated the effectiveness of the CCFDS.
detumbling strategy in post-capturing phaseon-orbit capturingrotational targetspace robotcollision avoidancecoordinated control
万方数据
维普
