On the Capture of Tumbling Satellite by a Space Robot
On the Capture of Tumbling Satellite by a Space Robot
复制标题
DOI：
10.1109/iros.2006.281900
复制
发表时间：
2006-10
期刊：
影响因子：
--
通讯作者：
Kazuya Yoshida;D. Dimitrov;H. Nakanishi
中科院分区：
文献类型：
--
作者：
Kazuya Yoshida;D. Dimitrov;H. Nakanishi
本文讨论了空间机器人捕获翻滚卫星的有关问题。从角动量分布的角度讨论了与目标接触前后基座姿态偏差的最小化问题。通过在接近阶段使用偏置动量方法，在撞击期间使用阻抗控制，在撞击后阶段使用分布式动量控制，我们提出了成功完成捕获操作的可能控制序列
This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation before and after the contact with the target is discussed from the viewpoint of angular momentum distribution. By using the bias momentum approach during the approaching phase, impedance control during the impact, and distributed momentum control during the post-impact phase, we propose a possible control sequence for the successful completion of a capturing operation