A two-arm flexible space manipulator system for post-grasping manipulation operations of a passive target object

被引：25

作者：

Stolfi, Angelo ^{[1
]}

Gasbarri, Paolo ^{[1
]}

Misra, Arun K. ^{[2
]}

机构：

[1] Sapienza Univ Rome, Dept Mech & Aerosp Engn, Rome, Italy

[2] McGill Univ, Dept Mech Engn, Montreal, PQ, Canada

来源：

ACTA ASTRONAUTICA | 2020年 / 175卷

关键词：

Space manipulator system; Autonomous docking operation; Closed-loop multi-body system; Combined jacobian transpose and proportional-derivative control; DEBRIS; ARM; COMPENSATION; DYNAMICS; CAPTURE;

D O I：

10.1016/j.actaastro.2020.04.045

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

Space Manipulator Systems (SMSs) are complex systems made of a platform equipped with one or more deployable robotic arms and they will be playing a major role in future autonomous on-orbit missions. The latter may as well involve manipulation operations of the target object which needs to be moved from an initial configuration to a final one suitable for the specific task under consideration. In the present study, the mission being analyzed concerns the manipulation of a passive body by means of a flexible SMS after grasping operations have been performed. The dynamics model is derived in a three-dimensional context (non-linear formulation for the rigid-body motions and linear for the elastic dynamics). The SMS involved in the investigation has two actuated seven-degree of freedom arms. Furthermore, the modeling of the grasp constraint existing between the SMS end-effectors and the target object is a critical issue which is addressed in the present paper. A combination of Jacobian Transpose and Proportional-Derivative Control is synthesized to accomplish the desired mission goals. Numerical results proving the effectiveness of the proposed strategy are presented and discussed.

引用

页码：66 / 78

页数：13