空间机械手的跟踪捕捉操作.docx

空间机械手的跟踪捕捉操作.docx

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空间机械手的跟踪捕捉操作

毕业设计外文资料翻译

题目空间机械手的跟踪捕捉操作

学院机械工程学院

专业机械工程及自动化

班级机自0917班

学生廉开发

学号20090421170

指导教师苏东宁

二〇一三年四月一日

\TrackingTrajectoryPlanningofSpace

ManipulatorforCapturingOperation

PanfengHuang1;YangshengXu2andBinLiang3

CollegeofAstronautics,NorthwesternPolytechnicalUniversity,China2

DepartmentofAutomationandComputer-AidedEngineerging,

TheChineseUniversityofHongKong,HongKong

ShenzhenSpaceTechnologyCenter,HarbinInstuteofTechnology,China

pfhuang@

\\Abstract:

On-orbitrescuinguncontrolledspinningsatellite（USS）usingspacerobotisagreatchallengeforfuturespaceservice.Thispapermainlypresentatrajectoryplanningmethodofspacemanipulatorthatcantrack,approachandcatchtheUSSinfree-floatingsituation.AccordingtothemotioncharacteristicsofUSS,weplanaspiralascendingtrajectoryforspacemanipulatortoapproachtowardsUSSinCartesianspace.However,itisdifficulttomapthistrajectoryintothejointspaceandrealizefeasiblemotioninjointspacebecauseofdynamics

singularitiesanddynamicscoupleofspacerobotsystem.Therefore,weutilizeintervalalgorithmtohandlethesedifficulties.Thesimulationstudyverifiesthatthespiralascendingtrajectorycanbeenrealized.Moreover,themotionofmanipulatorissmoothandstable,thedisturbancetothebaseissolimitedthattheattitudecontrolcancompensateit.

Keywords:

Spacemanipulator,trackingtrajectoryplanning,intervalalgorithms,polynominalsplinefunction

Introduction

Thispaperdealswithaspecialproblemoftrackitrjectoryplanningofspacemanipulatoforcapturingtheuncontrolledspinningsatellites.On-orbitcapturingisachallengeworkforspacerobotsysteminthefuturespaceservice.Thespacerobotsciencehasgottenbigprogressinthepastdecade.Therefore,on-orbitserviceforuncontrolledsatellitewillbeamainapplicationofspacerobotinorderreducethespacecostinthefuture.Whenhumanbeinglaunchedthefirstspacerobotandoperatedittoaccomplishthespacemission,spacerobotbegantobeutilizedindifferentspacetasks.NowadaysspacerobotsareaidingtoconstructandmaintaintheInternationalSpaceStatioandservicingthspacetelescope.Thereforespaceroboticservicingforsatellitsuchrescue,repairrefuellingandmaintenance,promisetoextendsatellitelifeandreducecostsmakesitoneofthemostattractiveareasofdevelopingtechnology.Spacerobotsarelikelytoplaymoreandmoreimportantrolesinsatelliteservicingmissionandspaceconstructionmissioninthefuture.Theapproachancaptureoperationmustbesolvedfirstlyinordertoaccomplishallthesemissions.Awellknownspacerobot,theShuttleRemoteManipulatorSystem（SRMSor`Canadarm''）[D.ZimpferandP.Spehar,1996]wasoperatedtoassistcaptureandberththesatellitefromtheshuttlebytheastronaut.NASAmissionsSTS-61,STS-82,andSTS-103repairedtheHubbleJapandemonstratedthespacemanipulatortocaptureacooperativesatellitewhoseattitudeisstabilizedduringthedemonstrationviatele-operationfromthegroundcontrolstation[Kawano,I.,etal.1998],[NoriyasuInaba,etal,2000].Allmentiabovespacerobotictechnologiesdemonstratetheusefulnessofspacerobotforspaceservicing.Howevertheiruseislimitedtocapturethesatellitesthatarecooperativeandattitudestabilized.Forinstance,therotatedattwodeg/sec.NASAmissionThereforethecaptureandrecoveryofavaluableuncontrolledsatellitecanbeaclassoffuturemissionforthefuturespacerobot.NearlyallofsatelliteservicingmissionsoccurredhavebeenexecutedbyExtra-VehicularActivity（EVA）oftheastronautwiththelimitedhelpofspaceroboticmanipulator.Itisveryexpensiveanddangerousfortheastronautstocaptureanuncontrolledspinningsatellite,evenforslowlyspinningsatellite.Ontheotherhand,spacerobotictechnologybecomesmoreandmoreadvancrecently.Thespacerobotcarriesoutsuchsatelliteservicingmissionautomaticallyorwithlimitedhumansupportinthefuture.However,thefirststepofthecaptureishowtotrackandapproachthetargetsatellite.StephenJacobsenetal[Jacobsen,S.,etal.（2002）]presentedtoplanasafekinematicstrajectoryforfreeflyingrobotsapproachinganuncontrolledspinningsatellite,theyaddresshowtoletthespacerobotapproachtotheworkspaceofroboticmanipulatorinwhichthemanipulatorcanoperateandcapturetheUSS.Therefore,thispaperassumesthatthetargetsatelliteisintheworkspaceofspacemanipulator.itisdesirabletocontriveanewtrackingandapproachtrajectoryforspacemanipulatortocapturethetargetsatellite.Sofar,therearemanystudiesontrajectoryplanningofspacerobot.S.DubowskyandKazuyaYoshidaK.HashizumKyoshidandKHashizume（2001）]utilizedtheETS-VIIasYangshengXu[OmP.AgrawalandYangshengXu（1994）]introducedaglobaloptimumpathplanningforredundantspa