Capturing a Space Target Using a Flexible Space Robot
Capturing space targets by space robots is significant for on-orbit service and is a challenging research topic nowadays. This paper focuses on the dynamics and control of capturing a non-cooperative space target by a space robot with a long flexible manipulator. Firstly, the dynamic equation of the...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/12/3/984 |
| _version_ | 1797489419143348224 |
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| author | Xiao-Feng Liu Xiao-Yu Zhang Guo-Ping Cai Wu-Jun Chen |
| author_facet | Xiao-Feng Liu Xiao-Yu Zhang Guo-Ping Cai Wu-Jun Chen |
| author_sort | Xiao-Feng Liu |
| collection | DOAJ |
| description | Capturing space targets by space robots is significant for on-orbit service and is a challenging research topic nowadays. This paper focuses on the dynamics and control of capturing a non-cooperative space target by a space robot with a long flexible manipulator. Firstly, the dynamic equation of the flexible space robot is given. The Hertz contact model is used to describe the contact force between the robot and the target. Secondly, an active compliance controller is designed to reduce the capture impact on the robot. Finally, the capture impact on the whole system is analyzed in detail in four scenarios: the combination of two kinds of movement forms and two kinds of relative positions of the robot and the target before capturing. Simulation results indicate that the capturing operation may cause complicated dynamic behaviors such as the vibration of elastic links and the continuous collision of the target. Moreover, the results show that the control method effectively offsets the capture impact on the space robot system. In general, this work lays a theoretical foundation for further study of the dynamic phenomena of the capture process. |
| first_indexed | 2024-03-10T00:17:16Z |
| format | Article |
| id | doaj.art-be447df45904417d95a3f6bac46dfc9e |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T00:17:16Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-be447df45904417d95a3f6bac46dfc9e2023-11-23T15:49:58ZengMDPI AGApplied Sciences2076-34172022-01-0112398410.3390/app12030984Capturing a Space Target Using a Flexible Space RobotXiao-Feng Liu0Xiao-Yu Zhang1Guo-Ping Cai2Wu-Jun Chen3Key Laboratory of Hydrodynamics of Ministry of Education, School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, ChinaKey Laboratory of Hydrodynamics of Ministry of Education, School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, ChinaKey Laboratory of Hydrodynamics of Ministry of Education, School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, ChinaKey Laboratory of Hydrodynamics of Ministry of Education, School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, ChinaCapturing space targets by space robots is significant for on-orbit service and is a challenging research topic nowadays. This paper focuses on the dynamics and control of capturing a non-cooperative space target by a space robot with a long flexible manipulator. Firstly, the dynamic equation of the flexible space robot is given. The Hertz contact model is used to describe the contact force between the robot and the target. Secondly, an active compliance controller is designed to reduce the capture impact on the robot. Finally, the capture impact on the whole system is analyzed in detail in four scenarios: the combination of two kinds of movement forms and two kinds of relative positions of the robot and the target before capturing. Simulation results indicate that the capturing operation may cause complicated dynamic behaviors such as the vibration of elastic links and the continuous collision of the target. Moreover, the results show that the control method effectively offsets the capture impact on the space robot system. In general, this work lays a theoretical foundation for further study of the dynamic phenomena of the capture process.https://www.mdpi.com/2076-3417/12/3/984flexible space robotspace targetcaptureimpactcontrol |
| spellingShingle | Xiao-Feng Liu Xiao-Yu Zhang Guo-Ping Cai Wu-Jun Chen Capturing a Space Target Using a Flexible Space Robot Applied Sciences flexible space robot space target capture impact control |
| title | Capturing a Space Target Using a Flexible Space Robot |
| title_full | Capturing a Space Target Using a Flexible Space Robot |
| title_fullStr | Capturing a Space Target Using a Flexible Space Robot |
| title_full_unstemmed | Capturing a Space Target Using a Flexible Space Robot |
| title_short | Capturing a Space Target Using a Flexible Space Robot |
| title_sort | capturing a space target using a flexible space robot |
| topic | flexible space robot space target capture impact control |
| url | https://www.mdpi.com/2076-3417/12/3/984 |
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