Detumbling Strategy Based on Task Compatibility for Space Robot after Capturing a Target
ZHOU Yiqun1, LUO Jianjun1,2, WANG Mingming1,2
1. Science and Technology on Aerospace Flight Dynamic Laboratory, Northwestern Polytechnical University, Xi'an 710072, China; 2. Research Institute of Northwestern Polytechnical University in Shenzhen, Shenzhen 518057, China
Abstract：A detumbling planning and control method based on task compatibility considering the input constraint of robotic system is proposed to stabilize the dual-arm space robot after capturing a tumbling target. Firstly, the dynamic model of the combined system after the space robot captures the target is presented as the basis of planning and control. Subsequently, a fast detumbling strategy of the target is designed based on the dynamic manipulability and task compatibility, where the orientation and magnitude of the expected target acceleration are taken as the opposite of its velocity and the maximum allowed by the input constraint of robotic system respectively. Finally, a compliant control method is proposed based on the derived kinematic and dynamic models to track the desired trajectory and regulate the end-effector contact force by establishing compliance equations for the target and the end-effectors. The simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom dual-arm space robot, which demonstrate the effectiveness of the proposed method.
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