A method for unpowered space robot safety rendezvous, with non-cooperative spacecraft
A method for unpowered space robot safety rendezvous, with non-cooperative spacecraft
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DOI：
10.1109/icma.2012.6283393
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发表时间：
2012-08
期刊：
影响因子：
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通讯作者：
Fuhai Zhang;Hongwei Chen;L. Hua;Yili Fu;Shuguo Wang;Bin Guo
中科院分区：
文献类型：
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作者：
Fuhai Zhang;Hongwei Chen;L. Hua;Yili Fu;Shuguo Wang;Bin Guo
针对自由漂浮空间机器人(追逐者卫星)在外层空间交会的路径规划问题，提出了基于轨道力学方程的非合作空间目标安全接近路径规划方法。研究了自由漂浮空间机器人最终接近阶段交会路径规划的整体策略和安全原则，基于轨道力学方程，利用安全原理生成自由漂浮空间机器人在最终接近阶段接近非合作空间目标的运动椭圆轨迹。该方法实现了空间机器人系统在自由漂浮工作模式下接近旋转的非协作空间目标，在后续工作无法正常完成的情况下，机器人能够安全逃生。
Aiming at rendezvous path planning of free floating space robot (the chaser satellite) in outer space, the path planning method to ensure safe approaching the non-cooperative space target based on the orbit mechanical equation is proposed. The whole rendezvous path planning strategy and safety principle of rendezvous path planning in ultimate approaching stage of free floating space robot are researched; Based on orbit mechanical equation, the moving ellipse locus of free floating space robot is generated using the safety principle to approach the non-cooperative space target in ultimate approaching stage. The method realizes that the space robot system approaches the spinning non-cooperative space target in free floating work mode, and the robot can escape safely when the subsequent work could not be normally completed.