TY - JOUR
T1 - Trajectory Planning and Control Method of Space Servo Manipulator System
AU - Ma, Xianlong
AU - Hong, Jun
AU - Zhang, Qian
AU - Meng, Zhongjie
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Space manipulator has been widely used in many space missions, including on-orbit docking, construction and maintenance, and astronauts' activities in space. In the aspect of manipulator planning and control, the current research mainly focuses on the motion trajectory planning and stability control of space manipulator, while the research on the space repeatable acquisition and locking technology for adaptive servo of signal source is relatively few. In this study, a space servo manipulator system and an optical path servo control method based on reinforcement learning for the manipulator were designed, so that the space manipulator could adapt to adjust the position of the end load according to the signal changes of the optical path, to complete the tracking of the optical path signal. The feasibility of the system was verified through mathematical simulation and physical objects.
AB - Space manipulator has been widely used in many space missions, including on-orbit docking, construction and maintenance, and astronauts' activities in space. In the aspect of manipulator planning and control, the current research mainly focuses on the motion trajectory planning and stability control of space manipulator, while the research on the space repeatable acquisition and locking technology for adaptive servo of signal source is relatively few. In this study, a space servo manipulator system and an optical path servo control method based on reinforcement learning for the manipulator were designed, so that the space manipulator could adapt to adjust the position of the end load according to the signal changes of the optical path, to complete the tracking of the optical path signal. The feasibility of the system was verified through mathematical simulation and physical objects.
KW - acquisition and locking technology
KW - reinforcement learning
KW - servo system
KW - space manipulator
UR - http://www.scopus.com/inward/record.url?scp=105006569575&partnerID=8YFLogxK
U2 - 10.1109/ICCC62609.2024.10941907
DO - 10.1109/ICCC62609.2024.10941907
M3 - 会议文章
AN - SCOPUS:105006569575
SN - 2837-7109
SP - 1417
EP - 1421
JO - Proceedings of the IEEE International Conference on Computer and Communications, ICCC
JF - Proceedings of the IEEE International Conference on Computer and Communications, ICCC
IS - 2024
T2 - 10th International Conference on Computer and Communications, ICCC 2024
Y2 - 13 December 2024 through 16 December 2024
ER -