Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays...

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Bibliographic Details
Published in:Acta astronautica Vol. 141; pp. 98 - 109
Main Authors: Wang, Mingming, Luo, Jianjun, Yuan, Jianping, Walter, Ulrich
Format: Journal Article
Language:English
Published: Elmsford Elsevier Ltd 01.12.2017
Elsevier BV
Subjects:
Adaptive algorithms
Angular velocity
Computer simulation
Control systems design
Coordination control
Degrees of freedom
Detumbling strategy
Evolution
Evolutionary algorithms
Grasping (robotics)
Kinematics
Manipulators
Motion planning
Post-grasping
Redundancy
Satellites
Space exploration
Space robots
Strategy
Studies
Coordination control
Post-grasping
Detumbling strategy
ISSN:0094-5765, 1879-2030
Online Access:Get full text
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Summary:The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method. •Dynamic equations of space robot in post-capture phase were derived.•Quartic Bezier curves were used to delineate the target's detumbling path.•Adaptive differential evolution algorithm was used for building detumbling path.•A coordination control scheme was implemented both for base and end-effector.
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ISSN:0094-5765
1879-2030
DOI:10.1016/j.actaastro.2017.09.025