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A timing determination method for a free-floating space robot to capture a tumbling target

A space robot, a technology for determining methods, applied in the control, instrument, three-dimensional position/channel control and other directions of finding targets, can solve the problem of no space robot work space utilization and other problems, achieve good operational flexibility and operational ability, and avoid collisions. Effect

Active Publication Date: 2018-08-14
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the size of the path-independent workspace of free-floating space robots can be determined by three methods: analytical method, geometric method and numerical method. use the nature of

Method used

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  • A timing determination method for a free-floating space robot to capture a tumbling target
  • A timing determination method for a free-floating space robot to capture a tumbling target
  • A timing determination method for a free-floating space robot to capture a tumbling target

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Embodiment

[0082] Taking a space robot with a three-degree-of-freedom manipulator capturing a tumbling target as an example, the effectiveness of the timing determination method in the present invention is illustrated. The moment of inertia of the rolling target is:

[0083]

[0084] In the body coordinate system, the position vector of the capture point is Assuming that at the initial moment, the three axial components of the target's rotational speed in the body coordinate system are [-4-2-4] deg / sec respectively, according to the equation in step 1, after 5000s (approximately equal to the period of the low earth orbit), The trajectory of the capture point in the inertial space is as follows: figure 1 Shown (the projection of the trajectory on the y-z plane).

[0085] Table 1 shows the kinematics and dynamics parameters of the space robot. According to the calculation process described in step 2, the radius distribution of the spherical ring corresponding to the working space of ...

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Abstract

The invention discloses a method for determining timing for capturing a tumbling target by a free floating space robot. The method comprises the following steps: establishing a movement equation of the tumbling target; analyzing a working space of the free floating space robot; proposing three criterions for determining the optimum capturing timing; and finally verifying the effectiveness of the method through examples. According to the method disclosed in the invention, the three criterions for determining the timing prevent a mechanical arm from colliding the tumbling target, so that an end effector has better operation flexibility and operation ability, the capturing can be completed rapidly, and benefit is brought to enable the robot in the future space to safely, reliably and rapidly execute the task of capturing the tumbling target.

Description

【Technical field】 [0001] The invention belongs to the technical field of space robots, and relates to a timing determination method for a free-floating space robot to capture a rolling target. 【Background technique】 [0002] Space robots play an important role in the space on-orbit service technology system. Space robots can be used to complete the on-orbit assembly of large spacecraft, replace modules, refuel, and improve the on-orbit service life of satellites in orbit. At the same time, space robots can also be used to clean up failed satellites and space debris. However, in the space robot projects that have been verified in orbit at present, the objects served by space robots are all cooperative targets, while the spacecraft that are actually in orbit and need to be serviced and the space debris that needs to be cleaned up are non-cooperative targets, and ground monitoring It shows that most of these non-cooperative targets have tumbling motion. Although the existing s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12G05D1/10
CPCG05D1/10G05D1/12G16Z99/00
Inventor 罗建军宗立军王明明袁建平朱战霞
Owner NORTHWESTERN POLYTECHNICAL UNIV
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