Dynamic Simulations of Free-Floating Space Robots
Dynamic Simulations of Free-Floating Space Robots
复制标题
自由漂浮空间机器人的动态仿真
DOI：
10.1007/978-1-4471-2343-9_30
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
J. Sommer
中科院分区：
文献类型：
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作者：
T. Rybus;K. Seweryn;M. Banaszkiewicz;Krystyna Macioszek;B. Mädiger;J. Sommer
本文研究了安装在自由飞行的服务卫星上的六自由度机械臂在在轨交会机动最后阶段的动力学问题。服务卫星上机械臂产生的反作用力力矩的确定对于制导、导航与控制子系统的研制至关重要。本文提出了一种捕获翻滚目标卫星的路径规划算法，并给出了机械臂与附着目标卫星的捕获机动和折叠的仿真结果。本文的第二部分重点介绍了我们的工作导致平面空气轴承试验台的空间机械臂的建设。
This paper focuses on the dynamics of a 6-dof manipulator mounted on a free-flying servicer satellite during final part of an on-orbit rendezvous maneuver. Determination of reaction torques induced by the manipulator on the servicer satellite is critical for the development of the Guidance, Navigation and Control (GNC) subsystem. Presented in this paper is a path planning algorithm for capturing a tumbling target satellite, as well as simulation results of the capture maneuver and folding of the manipulator with the attached target satellite. The second part of this paper is focused on the presentation of our work leading to the construction of a planar air-bering test-bed for space manipulators.