Journal
ACTA ASTRONAUTICA
Volume 193, Issue -, Pages 469-482Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.actaastro.2022.01.015
Keywords
Space robot; On-orbit servicing; Contact dynamics; Hybrid control; Control strategy
Categories
Funding
- National Natural Science Foundation of China [12102034]
- Beijing Institute of Technology Research Fund Program for Young Scholars, China
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This paper presents a contact model considering the multi-dimensional characteristics for a space robot interacting with a spinning target. A hybrid motion and force controller is developed to achieve force control on a floating or spinning target. The control strategy for different phases of operations is proposed and validated through simulations.
Force control provided by a small-scaled free-flying space robot on a floating or spinning target will be required for future on-orbit servicing missions, such as detumbling a target, performing an assembly or a maintenance operation. Regarding to different contact geometries for a space robot interacting with a spinning target, this paper addresses the contact model considering its multi-dimensional characteristics. A hybrid motion and force controller is developed to acquire desired contact forces and space robot configuration despite the floating feature of the system. On this basis, the control strategy to implement the operations of three typical phases, namely approaching phase, contact phase and post-contact phase, is proposed. The simulations have been performed to verify the control approaches and visualize the contact scenarios.
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