Impact Analysis and Trajectory Planning Stabilization Control for Space Robot after Capturing Target

被引：0
|
作者：
Fan M. [1 ]
Tang L. [1 ,2 ]
机构：
[1] Beijing Institute of Control Engineering, Beijing
[2] Science and Technology on Space Intelligent Control Laboratory, Beijing
来源：
Yuhang Xuebao/Journal of Astronautics | 2021年 / 42卷 / 10期
关键词：
ADAMS simulation; Differential evolution algorithm; Space robot capturing; Stable control; Trajectory planning;
D O I：
10.3873/j.issn.1000-1328.2021.10.011
中图分类号：
学科分类号：
摘要：
A stable control strategy which costs lower control energy and produces less disturbance to the platform is proposed for a free floating robot after being impacted by the captured target, and the influence of the impact on the space robot system is analyzed after capturing the target. Firstly, the dynamic model of the target-manipulator-platform compound system is established by the Kane equation; and then, the ADAMS software is used to analyze the impact on the space robot when capturing the target which provides initial simulation conditions for the control strategy; after that, the weighted objective function is set up for the differential evolution (DE) algorithm to search the joints space trajectory which is parameterized by the quartic polynomial. And the DE algorithm solves and gets joints trajectory which costs lower control energy and produces less disturbance to the platform. Finally, the numerical simulation result based on the free-floating space robot with 7 degrees of freedom shows the validity of the proposed control strategy. © 2021, Editorial Dept. of JA. All right reserved.
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页码：1305 / 1316
页数：11
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