自主捕获中自旋目标运动特性分析与地面模拟方法

doi:10.3724/SP.J.1218.2013.00001

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引用本文:
刘厚德, 王学谦, 梁斌, 徐文福, 史也. 自主捕获中自旋目标运动特性分析与地面模拟方法[J]. 机器人, 2013, 35(1): 1-8.DOI: 10.3724/SP.J.1218.2013.00001. LIU Houde, WANG Xueqian, LIANG Bin, XU Wenfu, SHI Ye. Motion Characteristics Analysis and Ground Simulation Method of Spin Target in Autonomous Capture. ROBOT, 2013, 35(1): 1-8. DOI: 10.3724/SP.J.1218.2013.00001.

摘要

针对在轨服务任务中非合作自旋目标自主捕获操作的特点及自旋目标运动特性分析，建立了目标的简化模型，并对其运动模拟需求进行了分析．在此基础上提出了自旋目标地面运动模拟的方案和2种基于6自由度工业机器人的运动模拟方法，即：基于机械臂末端运动的常规模拟法和基于机械臂肩部奇异点的自旋运动模拟法．最后，分别对这2种模拟方法进行原理介绍和试验仿真，仿真结果表明了方法的可行性和有效性．

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关键词 ：在轨服务, 自主捕获, 自旋目标, 运动模拟

Abstract：

For autonomous capture of non-cooperative spin targets in on-orbit service, a simplified model of the target is built based on the operation characteristics of autonomous capture and the motion characteristics analysis of spin targets. Then, the motion simulation requirements of spin targets are proposed. On this basis, the ground simulation scheme for spin targets and two methods of motion simulation based on 6-DOF (degree of freedom) industrial robot are presented, i.e. the conventional simulation method based on manipulator end motion and the spin simulation method based on manipulator shoulder singularity. Finally, these two methods are introduced and simulated respectively. The simulation results show their feasibility and validity.

Key words： on-orbit service autonomous capture spin target motion simulation

收稿日期: 2012-05-05 录用日期: 2012-08-21

ZTFLH:

TP24

基金资助:

国家自然科学基金资助项目（61175098）

通讯作者: 徐文福 E-mail: wfxu@robotsat.com

作者简介: 刘厚德（1984—），男，博士生．研究领域：空间机器人技术．
王学谦（1980—），男，博士，工程师．研究领域：空间机器人技术，空间机器人遥操作技术．
梁斌（1968—），男，教授，博士生导师．研究领域：机器人学，空间机器人技术．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00001 或 https://robot.sia.cn/CN/Y2013/V35/I1/1

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