Deorbiting of Satellites by a Free-Flying Space Robot by Combining Positioning Control and Impedance Control

Kohei Koga, Yoshiro Fukui
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Abstract

This study focused on the deorbiting of floating space debris using a free-flying space chaser robot with a robotic manipulator. Nanos et al. proposed continuous contact control between the manipulator and debris. The conventional method guarantees the required impedance behavior when the manipulator contacts the debris. However, it does not guarantee a safe distance between the robot and debris, and collisions between them may occur. In this paper, we propose continuous contact control between the manipulator and debris by adding positioning control to the conventional method. The proposed method guarantees not only the impedance behavior but also a safe distance between the robot and debris. Simulations in the planar space were used to verify the approach of the contact equipment to the target, and its ability to maintain the relative attitude.
定位控制与阻抗控制相结合的自由飞行空间机器人卫星脱轨
本文主要研究了利用自由飞行空间追逐机器人和机械臂对漂浮空间碎片进行脱轨。Nanos等人提出了机械臂与碎片的连续接触控制。传统的方法保证了机械臂接触碎片时所需的阻抗行为。然而,它不能保证机器人与碎片之间的安全距离,它们之间可能会发生碰撞。本文在传统控制方法的基础上增加了定位控制,提出了机械手与碎片的连续接触控制方法。该方法不仅保证了机器人与碎片之间的阻抗行为,而且保证了机器人与碎片之间的安全距离。在平面空间进行了仿真,验证了接触设备接近目标的能力和保持相对姿态的能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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