空间机械手的跟踪捕捉操作Word文档格式.docx
- 文档编号:15844309
- 上传时间:2022-11-16
- 格式:DOCX
- 页数:27
- 大小:145.65KB
空间机械手的跟踪捕捉操作Word文档格式.docx
《空间机械手的跟踪捕捉操作Word文档格式.docx》由会员分享,可在线阅读,更多相关《空间机械手的跟踪捕捉操作Word文档格式.docx(27页珍藏版)》请在冰豆网上搜索。
题目空间机械手的跟踪捕捉操作
学院机械工程学院
专业机械工程及自动化
班级机自0917班
学生廉开发
学号20090421170
指导教师苏东宁
二〇一三年四月一日
\TrackingTrajectoryPlanningofSpace
ManipulatorforCapturingOperation
PanfengHuang1;
YangshengXu2andBinLiang3
CollegeofAstronautics,NorthwesternPolytechnicalUniversity,China2
DepartmentofAutomationandComputer-AidedEngineerging,
TheChineseUniversityofHongKong,HongKong
ShenzhenSpaceTechnologyCenter,HarbinInstuteofTechnology,China
pfhuang@
\\Abstract:
On-orbitrescuinguncontrolledspinningsatellite(USS)usingspacerobotisagreatchallengeforfuturespaceservice.Thispapermainlypresentatrajectoryplanningmethodofspacemanipulatorthatcantrack,approachandcatchtheUSSinfree-floatingsituation.AccordingtothemotioncharacteristicsofUSS,weplanaspiralascendingtrajectoryforspacemanipulatortoapproachtowardsUSSinCartesianspace.However,itisdifficulttomapthistrajectoryintothejointspaceandrealizefeasiblemotioninjointspacebecauseofdynamics
singularitiesanddynamicscoupleofspacerobotsystem.Therefore,weutilizeintervalalgorithmtohandlethesedifficulties.Thesimulationstudyverifiesthatthespiralascendingtrajectorycanbeenrealized.Moreover,themotionofmanipulatorissmoothandstable,thedisturbancetothebaseissolimitedthattheattitudecontrolcancompensateit.
Keywords:
Spacemanipulator,trackingtrajectoryplanning,intervalalgorithms,polynominalsplinefunction
Introduction
Thispaperdealswithaspecialproblemoftrackitrjectoryplanningofspacemanipulatoforcapturingtheuncontrolledspinningsatellites.On-orbitcapturingisachallengeworkforspacerobotsysteminthefuturespaceservice.Thespacerobotsciencehasgottenbigprogressinthepastdecade.Therefore,on-orbitserviceforuncontrolledsatellitewillbeamainapplicationofspacerobotinorderreducethespacecostinthefuture.Whenhumanbeinglaunchedthefirstspacerobotandoperatedittoaccomplishthespacemission,spacerobotbegantobeutilizedindifferentspacetasks.NowadaysspacerobotsareaidingtoconstructandmaintaintheInternationalSpaceStatioandservicingthspacetelescope.Thereforespaceroboticservicingforsatellitsuchrescue,repairrefuellingandmaintenance,promisetoextendsatellitelifeandreducecostsmakesitoneofthemostattractiveareasofdevelopingtechnology.Spacerobotsarelikelytoplaymoreandmoreimportantrolesinsatelliteservicingmissionandspaceconstructionmissioninthefuture.Theapproachancaptureoperationmustbesolvedfirstlyinordertoaccomplishallthesemissions.Awellknownspacerobot,theShuttleRemoteManipulatorSystem(SRMSor`Canadarm'
'
)[D.ZimpferandP.Spehar,1996]wasoperatedtoassistcaptureandberththesatellitefromtheshuttlebytheastronaut.NASAmissionsSTS-61,STS-82,andSTS-103repairedtheHubbleJapandemonstratedthespacemanipulatortocaptureacooperativesatellitewhoseattitudeisstabilizedduringthedemonstrationviatele-operationfromthegroundcontrolstation[Kawano,I.,etal.1998],[NoriyasuInaba,etal,2000].Allmentiabovespacerobotictechnologiesdemonstratetheusefulnessofspacerobotforspaceservicing.Howevertheiruseislimitedtocapturethesatellitesthatarecooperativeandattitudestabilized.Forinstance,therotatedattwodeg/sec.NASAmissionThereforethecaptureandrecoveryofavaluableuncontrolledsatellitecanbeaclassoffuturemissionforthefuturespacerobot.NearlyallofsatelliteservicingmissionsoccurredhavebeenexecutedbyExtra-VehicularActivity(EVA)oftheastronautwiththelimitedhelpofspaceroboticmanipulator.Itisveryexpensiveanddangerousfortheastronautstocaptureanuncontrolledspinningsatellite,evenforslowlyspinningsatellite.Ontheotherhand,spacerobotictechnologybecomesmoreandmoreadvancrecently.Thespacerobotcarriesoutsuchsatelliteservicingmissionautomaticallyorwithlimitedhumansupportinthefuture.However,thefirststepofthecaptureishowtotrackandapproachthetargetsatellite.StephenJacobsenetal[Jacobsen,S.,etal.(2002)]presentedtoplanasafekinematicstrajectoryforfreeflyingrobotsapproachinganuncontrolledspinningsatellite,theyaddresshowtoletthespacerobotapproachtotheworkspaceofroboticmanipulatorinwhichthemanipulatorcanoperateandcapturetheUSS.Therefore,thispaperassumesthatthetargetsatelliteisintheworkspaceofspacemanipulator.itisdesirabletocontriveanewtrackingandapproachtrajectoryforspacemanipulatortocapturethetargetsatellite.Sofar,therearemanystudiesontrajectoryplanningofspacerobot.S.DubowskyandKazuyaYoshidaK.HashizumKyoshidandKHashizume(2001)]utilizedtheETS-VIIasYangshengXu[OmP.AgrawalandYangshengXu(1994)]introducedaglobaloptimumpathplanningforredundantspa
- 配套讲稿:
如PPT文件的首页显示word图标,表示该PPT已包含配套word讲稿。双击word图标可打开word文档。
- 特殊限制:
部分文档作品中含有的国旗、国徽等图片,仅作为作品整体效果示例展示,禁止商用。设计者仅对作品中独创性部分享有著作权。
- 关 键 词:
- 空间 机械手 跟踪 捕捉 操作