TY - GEN
T1 - Tracking trajectory planning of space manipulator for capturing uncontrolled spinning satellite
AU - Huang, Panfeng
AU - Yan, Jie
AU - Xu, Yangsheng
AU - Xu, Wenfu
AU - Liang, Bin
PY - 2006
Y1 - 2006
N2 - On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is the great challenges for future space service. This paper mainly presents a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of kinematic multi-solutions and dynamics singularities of space robot system. Therefore, we utilize interval algorithm to handle these difficulties. The simulation study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it.
AB - On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is the great challenges for future space service. This paper mainly presents a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of kinematic multi-solutions and dynamics singularities of space robot system. Therefore, we utilize interval algorithm to handle these difficulties. The simulation study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it.
KW - Space manipulator
KW - Tracking trajectory planning
KW - Uncontrolled spinning satellite
UR - http://www.scopus.com/inward/record.url?scp=34247278632&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2006.257764
DO - 10.1109/ICMA.2006.257764
M3 - 会议稿件
AN - SCOPUS:34247278632
SN - 1424404665
SN - 9781424404667
T3 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
SP - 1014
EP - 1019
BT - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
T2 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Y2 - 25 June 2006 through 28 June 2006
ER -