Design and Experiment of the Control System for Automatic Rocket-attaching Module of Auto-docking and Auto-separating Robot for Launch Vehicle Propellant Loading
ZHAO Shuaifeng1, DUN Xiangming1, ZHANG Yulin2, LU Jinrong3, ZOU Lipeng3, XU Beichen4
1. Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China; 2. PLA General Armament Department, Beijing 100081, China; 3. Jiuquan Satellite Launch Center in China, Jiuquan 732750, China; 4. Shanghai Aerospace Bureau, Shanghai 201108, China
赵帅锋, 顿向明, 张育林, 陆晋荣, 邹利鹏, 许北辰. 运载火箭推进剂加注自动对接与脱离机器人自动上箭模块控制系统的设计与实验[J]. 机器人, 2012, 34(3): 307-313,320.DOI: 10.3724/SP.J.1218.2012.00307.
ZHAO Shuaifeng, DUN Xiangming, ZHANG Yulin, LU Jinrong, ZOU Lipeng, XU Beichen. Design and Experiment of the Control System for Automatic Rocket-attaching Module of Auto-docking and Auto-separating Robot for Launch Vehicle Propellant Loading. ROBOT, 2012, 34(3): 307-313,320. DOI: 10.3724/SP.J.1218.2012.00307.
Abstract：Aiming at the automatic rocket-attaching problem of the auto-docking and auto-separating robot for launch vehicle propellant loading, a control system is designed for the automatic rocket-attaching module. The system uses image processing algorithm to provide visual information for the autonomous navigation positioning in plane, and the force servo algorithm is designed to assist the rocket-attaching to complete smoothly. A large number of docking simulation experiments and the experiments on real rockets prove the reliability and stability of the control system.
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