Ground experiment on rendezvous and docking with a spinning target using multistage control strategy

Wei, Zhengtao; Wen, Hao; Hu, Haiyan; Jin, Dongping

doi:10.1016/j.ast.2020.105967

Cited by 29 publications

(11 citation statements)

References 32 publications

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“…However, the dynamics and control of a space robot are complex [2,3]. It is necessary to validate the design and control of space operations on the ground [4,5]. Thus, reliable zero-gravity (0-g) simulators for on-orbit operations are required [6,7].…”

Section: Introductionmentioning

confidence: 99%

Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

Shen

Gao

et al. 2022

Chin. J. Mech. Eng.

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An industrial robot with a six-axis force/torque sensor is usually used to produce a zero-gravity environment for testing space robotic operations. However, using traditional force control methods, such as admittance control, causes position-controlled industrial robots to undergo from force divergence owing to intrinsic time delay. In this paper, a new force control method is proposed to eliminate the force divergence. A hardware-in-the-loop (HIL) simulator with an industrial robot is first presented. The free-floating satellite dynamics and the motion mapping from the satellites to simulator are both established. Thus, the effects of measurement delay and dynamic response delay on contact velocity and force are investigated. After that, a real-time estimation method for contact stiffness and damping is proposed based on the adaptive Kalman filter. The measurement delay is compensated by a phase lead model. Moreover, the identified contact parameters are adopted to modify contact forces, and thus the dynamics response delay can be compensated for. Finally, a co-simulation and experiments were conducted to verify the force control method. The results show that contact stiffness and damping could be identified exactly and that the simulation divergence could be prevented. This paper proposes an active compliance control method that can deal with force constrained tasks of a position-controlled robot in unknown environments.

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Section: Introductionmentioning

confidence: 99%

Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

Shen

Gao

et al. 2022

Chin. J. Mech. Eng.

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“…Rendezvous and docking were critical functions to a spacecraft; successful rendezvous and docking operations are the foundation to a space mission. Wei et al [149] developed an air-bearing testbed to simulate planar rendezvous and docking operations of a spacecraft for a spinning target, the collision avoidance of spacecraft and targeted object was focused in the controlling algorithm, the testbed was equipped with vision systems and wireless networks for data acquisition, transmission, processing, and information integration. Microgravity and sparse media properties are involved in deep space, this posed strict constraints to ensure safe landing.…”

Section: ) Launching Processingmentioning

confidence: 99%

The State of the Art of Information Integration in Space Applications

Yung

et al. 2022

IEEE Access

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This paper aims to present a comprehensive survey on information integration (II) in space informatics. With an ever-increasing scale and dynamics of complex space systems, II has become essential in dealing with the complexity, changes, dynamics, and uncertainties of space systems. The applications of space II (SII) require addressing some distinctive functional requirements (FRs) of heterogeneity, networking, communication, security, latency, and resilience; while limited works are available to examine recent advances of SII thoroughly. This survey helps to gain the understanding of the state of the art of SII in sense that (1) technical drivers for SII are discussed and classified; (2) existing works in space system development are analyzed in terms of their contributions to space economy, divisions, activities, and missions; (3) enabling space information technologies are explored at aspects of sensing, communication, networking, data analysis, and system integration; (4) the importance of first-time right (FTR) for implementation of a space system is emphasized, the limitations of digital twin (DT-I) as technological enablers are discussed, and a concept digital-triad (DT-II) is introduced as an information platform to overcome these limitations with a list of fundamental design principles; (5) the research challenges and opportunities are discussed to promote SII and advance space informatics in future.INDEX TERMS Information integration (II), space informatics, digital triad (DT-II), internet of digital-triad things (IoDTT), first-time right (FTR), space information integration (SII). FIGURE 2. Technical drivers of II applications.

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“…The dynamics covering contact/impact involves numerous challenges, such as the rendezvous and docking of spacecrafts, 1 deployment and locking of satellite's panels, 2,3 and contact and vibration between wheel rails. 4 Given the short time and large force of impact process, the continuous and smooth global motion of the system is often subject to severe disturbance, and the dynamic response occurs in a sudden change.…”

Section: Introductionmentioning

confidence: 99%

“…Influence of the COR. The global process simulation by Seifreid is divided into the following steps (1). …”

mentioning

confidence: 99%

A quasi-static contact model for global dynamic simulation of multibody system with contact-impact

Wang

2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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The global impact dynamics of multibody system is challenging due to the multi-scale characteristics of slow-changing non-contact process and fast-changing impact process. To solve the contradiction between the impact accuracy and the global simulation efficiency, a novel quasi-static contact model is proposed where the local contact domain is finely discretized and the energy loss caused by elastoplasticity is considered, and the real-time force-displacement interaction is established to execute the global integration capably. Through the experimental case of flexible pendulum impact, the proposed model is compared with measurements and existing methods, including impulse method, continuous contact force method and nonlinear finite element method. It is shown that the impulse method and continuous contact force method are both sensitive to the coefficient of restitution, yielding uncertain results. The nonlinear finite element method can accurately describe the impact process, but its calculation scale is too large to apply to the global simulation. The quasi-static model can accurately describe the response of the global process and does not rely on artificial selection of any parameters, and the calculation efficiency is greatly improved compared with the nonlinear finite element method.

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Ground experiment on rendezvous and docking with a spinning target using multistage control strategy

Cited by 29 publications

References 32 publications

Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

Active Compliance Control of a Position-Controlled Industrial Robot for Simulating Space Operations

The State of the Art of Information Integration in Space Applications

A quasi-static contact model for global dynamic simulation of multibody system with contact-impact

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