Assembly Trajectory Planning of Space Telescope Sub-mirror Module Based on Time Optimal Control

Ziran, Hao; Zainan, Jiang; Chongyang, Li; Yang, Fan

doi:10.1088/1757-899x/439/3/032077

Cited by 1 publication

(2 citation statements)

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“…The development of related technologies will directly affect the implementation of China's future space exploration plans and the deployment of related space strategies. During deep space exploration and on-orbit services, there are a lot of heavy and complex space assembly tasks to be completed, such as the dismantling and reorganization of abandoned satellites on-orbit and the construction of space solar power plants [1], the construction of the survey telescope [2], the construction of the Ultra-Large Aperture On-orbit Assembly Space Telescope [3,4], and the automated construction of the remote exploration base [5,6]. These tasks inevitably require space manipulators to complete inserting and screwing actions, which all belong to the peg-in-hole assembly task.…”

Section: Introductionmentioning

confidence: 99%

“…However, the structural stiffness of the space manipulator may be much smaller than the environmental stiffness. (3) The existing research on impedance control have limitations when applied to space assembly tasks: The controller based on the hybrid systems framework needs to switch the control law frequently; designing fuzzy rules requires researchers to generalize on the basis of a large number of experiments; the stiffness estimation based on the extended Kalman filter leads to insufficient control accuracy; and controllers based on disturbance observers require accurate dynamics models.…”

Section: Introductionmentioning

confidence: 99%

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A Control Method of Space Manipulator for Peg-in-Hole Assembly Task Considering Equivalent Stiffness Optimization

et al. 2021

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To meet the control requirements of high precision and high robustness for peg-in-hole assembly tasks, an optimized control method for a peg-in-hole assembly task of a space manipulator is proposed to reduce the system disturbance caused by the change contact status during the assembly process. The first step is to build an equivalent stiffness model, which considers the structure and control characteristics of the space manipulator. Flexibility indices along the assembly direction are then created. On completion of the flexibility indices, the assembly configuration of the manipulator is optimized with the gain of the joint controller. After that, based on the sliding mode impedance control law, the disturbance of contact force is compensated using a zero-sum optimal control compensation strategy. Finally, the correctness and effectiveness of the control method are verified through simulation experiments. The results of the simulation experiments show that the contact force of the space manipulator can be precisely controlled by the method proposed in this paper. Compared with existing methods, the sudden change of contact force and the disturbing force of the base are reduced by 90% and 54%, respectively. A control method of the space manipulator for a peg-in-hole assembly task considering the equivalent stiffness optimization is proposed, which effectively reduces the influence of disturbance caused by contact collision and improves the control robustness of peg-in-hole assembly tasks.

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