Path Planning for Base Attitude Adjustment of a Free-floating Space Robot System
XU Wen-fu1, ZHAN Wen-fa2, LIANG Bin3, LI Cheng3, QIANG Wen-yi1
1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China; 2. Educational Technology Department, Anqing Teachers College, Anqing 246011, China; 3. Shenzhen Space Technology Center, HIT Research Institute in Shenzhen, Shenzhen 518057, China
Abstract：The manipulator motion is planned to adjust the satellite attitude,which is the base of the manipulator.The method not only saves the propellant used for the attitude control,but also can serve as a backup means for the conventional attitude control system.Firstly,the state equation of the free-floating space robot system is established with the joint angles and the satellite attitude as its state variables,and the joint angular velocities as its input variables.Based on the theory of system controllability,the path connecting the system initial state with the desired state is planned,and the satellite attitude and joint angle can be controlled at the same time only using the manipulator joint motion. Lastly,the energy consumption is analyzed theoretically,and the near optimal algorithm to minimize the power cost function is presented.The numerical simulation results show the validity of the method.
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