空间机器人抓捕目标后基于任务相容性的消旋策略

A detumbling planning and control method based on task compatibility considering the input constraint of robotic system is proposed to stabilize the dual-arm space robot after capturing a tumbling target. Firstly, the dynamic model of the combined system after the space robot captures the target is presented as the basis of planning and control. Subsequently, a fast detumbling strategy of the target is designed based on the dynamic manipulability and task compatibility, where the orientation and magnitude of the expected target acceleration are taken as the opposite of its velocity and the maximum allowed by the input constraint of robotic system respectively. Finally, a compliant control method is proposed based on the derived kinematic and dynamic models to track the desired trajectory and regulate the end-effector contact force by establishing compliance equations for the target and the end-effectors. The simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom dual-arm space robot, which demonstrate the effectiveness of the proposed method.