Contact dynamics and control of a space robot capturing a tumbling object

Wu, Shuang; Mou, Fangli; Liu, Qian; Cheng, Jing

doi:10.1016/j.actaastro.2018.06.052

Cited by 43 publications

(16 citation statements)

References 24 publications

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“…The magnitude of the force is related to factors such as initial velocity, contact area, Young's modulus of the material, Poisson's ratio, and penetration depth. This force can be expressed as follows [22] c c c…”

Section: Contact Dynamics Modelingmentioning

confidence: 99%

“…( 20) into Eq. ( 21) and rearranging the results, we obtain the following: (22) By substituting Eq. ( 22) into Eq.…”

Section: Control Lawmentioning

confidence: 99%

“…In Ref. [22], a contact dynamics model was reestablished by considering the friction force between the end-effector of a space robot and the target grasping handle, and an admittance controller for the decomposed motion was designed. Flores-Abad et al [23] used precise inverse dynamics to observe collision contact forces and proposed an impedance control method based on a disturbance observer to achieve flexible contact during capture.…”

Section: Introductionmentioning

confidence: 99%

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Impedance-Sliding Mode Control With Force Constraints for Space Robots Capturing Non-Cooperative Objects

Dong¹,

Zhang²,

Chu³

et al. 2021

IEEE Access

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Section: Contact Dynamics Modelingmentioning

confidence: 99%

“…( 20) into Eq. ( 21) and rearranging the results, we obtain the following: (22) By substituting Eq. ( 22) into Eq.…”

Section: Control Lawmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Impedance-Sliding Mode Control With Force Constraints for Space Robots Capturing Non-Cooperative Objects

Dong¹,

Zhang²,

Chu³

et al. 2021

IEEE Access

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“…However, the above studies did not involve the capture operation. Wu et al [23] discussed the dynamics and control of the robot capture of tumbling satellites, Zhao et al [24] discussed the minimum base disturbance control of the visual servo pre-capture process of free-floating space robots, and Liu et al [25] studied the trajectory planning and coordinated control of space robots in the post-capture stage. Although various problems of space robot capture have been addressed, the effect of flexible vibration has not been considered.…”

Section: Introductionmentioning

confidence: 99%

Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite

Chen

2021

Applied Sciences

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During the process of satellite capture by a flexible base–link–joint space robot, the base, joints, and links vibrate easily and also rotate in a disorderly manner owing to the impact torque. To address this problem, a repetitive learning sliding mode stabilization control is proposed to stabilize the system. First, the dynamic models of the fully flexible space robot and the captured satellite are established, respectively, and the impact effect is calculated according to the motion and force transfer relationships. Based on this, a dynamic model of the system after capturing is established. Subsequently, the system is decomposed into slow and fast subsystems using the singular perturbation theory. To ensure that the base attitude and the joints of the slow subsystem reach the desired trajectories, link vibrations are suppressed simultaneously, and a repetitive learning sliding mode controller based on the concept of the virtual force is designed. Moreover, a multilinear optimal controller is proposed for the fast subsystem to suppress the vibration of the base and joints. Two sub-controllers constitute the repetitive learning sliding mode stabilization control for the system. This ensures that the base attitude and joints of the system reach the desired trajectories in a limited time after capturing, obtain better control quality, and suppress the multiple flexible vibrations of the base, links and joints. Finally, the simulation results verify the effectiveness of the designed control strategy.

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“…In this strategy, the resolved motion rate control was employed for tracking the target object motion while the hybrid impedance control was utilized to control the contact force. Wu et al [23] proposed an impedance based resolved motion admittance control method.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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Grasping a non-cooperative ''customer satellite'' with a robotic arm is a challenging task for on-orbit services of spacecraft since the collision between the robot and the target is inevitable and the dynamic behaviors of the two objects are hard to control after the collision. To grasp successfully, the contact between the space robot and the target is hoped to be maintained after the collision. In this paper, the contact control problem for grasping a non-cooperative satellite is studied. First, to simulate the contact conditions as realistic as possible, the multibody dynamics, the modified Hertz contact, and the contact detection theory are employed to establish a grasping dynamics model. Then, based on the study on the dynamic behavior of the two-ball collision problem, a hybrid control scheme with damping and attitude tracking controllers is proposed. By this scheme, the control goal, i.e. maintaining the contact between the robot and the target, can be realized after multiple collisions. Finally, numerical simulations are performed to validate the proposed control scheme, and the results demonstrate its effectiveness in grasping a non-cooperative tumbling satellite.

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Contact dynamics and control of a space robot capturing a tumbling object

Cited by 43 publications

References 24 publications

Impedance-Sliding Mode Control With Force Constraints for Space Robots Capturing Non-Cooperative Objects

Impedance-Sliding Mode Control With Force Constraints for Space Robots Capturing Non-Cooperative Objects

Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

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