Experiments in global navigation and control of a free-flying space robot

Experiments in global navigation and control of a free-flying space robot
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自由飞行空间机器人全局导航与控制实验

DOI：
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发表时间：
1989
期刊：
影响因子：
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通讯作者：
R. Cannon
R. Cannon
中科院分区：
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文献类型：
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作者：
M. Ullman;R. Cannon

文献摘要

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本文回顾了斯坦福大学航空航天机器人实验室（ARL）在开发和控制自由飞行空间机器人方面的初步工作。该项目的目标是开发一个实验室版本的空间机器人，它能够执行目标跟踪、获取和操作。特别是，本文重点关注与捕获最初在机器人可触及范围之外的自由漂浮物体相关的问题。提出了一组用于生成合适拦截轨迹的规则。还描述了一种适合执行这些运动的控制器架构。最后，展示了说明这些算法行为的计算机模拟结果以及将对其进行测试的物理硬件的描述。
This paper reviews initial work at the Stanford University Aerospace Robotics Laboratory (ARL) in developing and controlling a free-flying space robot. The objective of this project is to develop a laboratory version of a space robot that is capable of performing target tracking, acquisition, and manipulation. In particular, this paper focuses on the problems associated with capturing a free-floating object that is initially out of reach of the robot. A set of rules is presented for generating an appropriate intercept trajectory. A controller architecture suitable for carrying out these motions is also described. Finally the results of computer simulations illustrating the behavior of these algorithms are shown along with a description of the physical hardware on which they will be tested.