Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout

Hu, Bingshan; Chen, Feng; Han, L.; Chen, Huanlong; Yu, Hongliu

doi:10.1155/2018/4271035

Cited by 3 publications

(3 citation statements)

References 17 publications

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“…For the space manipulator in Figure 1, only two-dimensional motion is considered in this paper. The dynamic parameters of each rigid body and the specific derivation results in Equations (4)- (8) are shown in Appendix A.…”

Section: Manipulator and Contact Modelingmentioning

confidence: 99%

“…The impact force between the space manipulator and the target spacecraft will increase the risk and uncertainty of the capture mission. However, the accurate establishment of the manipulator dynamics model and the proper compliant control strategy can avoid the damage to the chaser and target spacecraft and improve the success probability [ 7 , 8 ].…”

Section: Introductionmentioning

confidence: 99%

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PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

Kang

Zhang

et al. 2020

Sensors

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The contact force/torque between the end-effector of the space manipulator and the target spacecraft will reduce the efficiency and safety of the capture task. A capture strategy using PD-impedance combined control algorithm is proposed to achieve compliant contact between the chaser and target spacecraft. In order to absorb the impact energy, a spring-damper system is designed at the end-effector, and the corresponding dynamics model is established by Lagrange’s equation. Then a PD-impedance control algorithm based on steady-state force tracking error is proposed. Using this method, a compliant contact between the chaser and target spacecraft is realized while considering the dynamic coupling of the system. Finally, the general equation of the reference trajectory of the manipulator end-effector is derived according to the relative velocity and impact direction. The performance of the proposed capture strategy is studied by a co-simulation of MSC Adams and MATLAB Simulink in this paper. The results show that the contact plane at the end-effector of the manipulator can decelerate and detumble the target spacecraft. Besides, the contact force, relative velocity, and angular velocity all decrease to zero gradually, and the final stable state can be maintained for a prescribed time interval.

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Section: Manipulator and Contact Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

Kang

Zhang

et al. 2020

Sensors

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“…The application of a space manipulator can not only improve execution efficiency of space tasks but also decrease risks of an astronaut's EVA. Therefore, space manipulators play an important role in space exploration [1,2]. However, space manipulators are exposed to hazardous space environment with high temperature difference and intense radiation and usually execute many heavy tasks, like carrying a load whose mass reaches up to 8-25 tons, so parts in joints suffer from severe abrasion, and joints are prone to fail during the long-term service [3].…”

Section: Introductionmentioning

confidence: 99%

Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure

Jia

Yuan

Chen

et al. 2019

International Journal of Aerospace Engineering

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For the free-floating space manipulator with free-swinging joint failure, motions among its active joints, passive joints, free-floating base, and end-effector are coupled. It is significant to make clear all motion coupling relationships, which are defined as "kinematic coupling relationships" and "dynamic coupling relationships," inside the system. With the help of conservation of system momentum, the kinematic model is established, and velocity mapping relation between active joints and passive joints, velocity mapping relation between active joints and base, velocity mapping relation between active joints and end-effector. We establish the dynamic model based on the Lagrange equation, and the system inertia matrix is partitioned according to the distribution of active joints, passive joints, and the base. Then, kinematic and dynamic coupling relationships are explicitly derived, and coupling indexes are defined to depict coupling degree. Motions of a space manipulator with free-swinging joint failure simultaneously satisfy the first-order nonholonomic constraint (kinematic coupling relationships) and the second-order nonholonomic constraint (dynamic coupling relationships), and the manipulator can perform tasks through motion planning and control. Finally, simulation experiments are carried out to verify the existence and correctness of the first-order and second-order nonholonomic constraints and display task execution effects of the space manipulator. This research analyzes the kinematic and dynamic characteristics of the free-floating space manipulator with free-swinging joint failure for the first time. It is the theoretical basis of free-swinging joint failure treatment for a space manipulator. Passive joints Base Space manipulator End-effector − Figure 1: Kinematic model of the n-DOF space manipulator with free-swinging joint failure.3 International Journal of Aerospace Engineering R 3×n represents the contribution of θ to angular momentum L. J LM and J AM can be expressed as J LM = j LM1 , j LM2 ,⋯,j LMn and J AM = j AM1 , j AM2 ,⋯,j AMn , respectively, and we can find column vectors corresponding to passive joints and active joints to make up matrixesEquations (6) and (7) can be expressed in matrix form T P T ∈ R 3+p ×1 and the Jacobian matrix iswhere J eA v is the first three rows of J eA . The kinematic coupling index is the manipulability of J vePA . For the task to eliminate the base attitude deflection when regulating passive joints, we select the task velocity vector as v ωbP = θ T P , ω T 0 T ∈ R p+3 ×1 and the Jacobian matrix iswhere J bA ω is the last three row vectors of J bA . The kinematic coupling index is the manipulability of J ωbPA . To eliminate base attitude disturbance, we keep ω 0 ≡ 0 [28]. For general space tasks, we should select v task = v task1 , v task2 ,⋯,v task f T ∈ R f ×1 according to controlled passive units for current task requirements. f is the dimensionality of v task . Then, the corresponding row vectors from J t need to be taken out to construct the Jacobian matrix:...

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Convergence Compensation for Space Contact Semiphysical Simulator Based on Mechanical Structure Dynamics

Qi¹,

Wang²,

Li³

et al. 2021

J. Aerosp. Eng.

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Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout

Cited by 3 publications

References 17 publications

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure

Convergence Compensation for Space Contact Semiphysical Simulator Based on Mechanical Structure Dynamics

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