冗余空间机械臂抓捕自旋卫星后的消旋控制

The objective of this paper is to establish a detumbling strategy and a coordinated control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. Firstly, the dynamics of the kinematically redundant space robot after target grasping is presented, which lays a foundation for the coordination controller design. Subsequently, the optimal detumbling and motion planning strategies for the post-capture phase are proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both the detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordinated control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. The simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrate the effectiveness of the proposed method.