The Chinese Experimental Space System for Onorbit Robotistic Services (CESSORS) is to be developed by Shenzhen Space Technology Center. CESSORS consists of two satellites and a mounted robotic manipulator. In this paper, the design of the two satellites and the manipulator is described in detail, as well as the target detecting system and the ground teleoperation system. The planned missions include calibration of robot manipulator, teleoperation of the manipulator, coordinated control, on-orbit robotistic services, on-orbit target chasing and approaching, and flying around inspection. This paper introduces the components of CESSORS, and shows the on-orbit missions.
The paper presents a new calibration method of the parallel robot using genetic algorithm (GA) which has the powerful global adaptive probabilistic search ability. In the process of the calibration, calculation of measurement residuals through inverse kinematics is adopted, which greatly reduces calculation burden and saves operation time. At last, in the form of simulation and experiment, considering the influence of measurement noise the steward parallel robot is respectively calibrated and its pose (position and orientation) accuracy has a significant improvement.
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