Reactionless capture of a satellite by a two degree-of-freedom manipulator
Reactionless capture of a satellite by a two degree-of-freedom manipulator
复制标题
DOI：
10.1016/j.actaastro.2009.05.015
复制
发表时间：
2010-01-01
影响因子：
3.5
通讯作者：
Misra, A. K.
中科院分区：
文献类型：
--
作者：
Piersigilli, P.;Sharf, I.;Misra, A. K.
本文考虑的具体主题是卫星操纵器自主捕获目标，这在轨道服务（OOS）中起着至关重要的作用。在这种情况下，迄今为止可用的轨迹生成技术是为服务卫星设计的，其姿态和位置是主动控制的。我们工作的创新之处在于开发了无反应轨迹生成策略，通过该策略，我们试图找到在不影响基座姿态的情况下拦截目标的机械臂路径，从而避免在手臂操作期间对基座进行姿态控制。该策略基于反应磨空间（RNS）方法，最初由吉田提出。它允许在线路径生成，并且似乎是在轨迹生成算法中实现最易于管理的。四种新颖的算法（按照复杂性的顺序递增）已在 Matlab 中开发和实现。进行的模拟表明，尽管使用 RNS 方程会带来复杂性，但设计出满足本文中考虑的所有约束的无反应捕获轨迹是可能的。 (C) 2009 Elsevier Ltd. 保留所有权利。
The specific topic considered in this paper, which plays a crucial role in on orbit servicing (OOS), is the autonomous capture of a target by a satellite-mounted manipulator. In this context, the trajectory generation techniques available to date have been designed for a servicing satellite, the attitude and position of which are actively controlled. The innovation in our work is the development of a reactionless trajectory generation strategy by means of which we attempt to find manipulator paths which will intercept the target without affecting the attitude of the base, thus avoiding the need for attitude control of the base during the operation of the arm. This strategy is based on the reaction mill space (RNS) method, originally proposed by Yoshida. which allows on-line path generation and which appears to be the most manageable for implementation within a trajectory generation algorithm. Four novel algorithms, in increasing order of complexity, have been developed and implemented in Matlab. The simulations carried out show that it is possible to devise a reactionless capture trajectory satisfying all the constraints considered in the paper, despite the complication that the use of the RNS equations implies. (C) 2009 Elsevier Ltd. All rights reserved.