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空间机械手的跟踪捕捉操作.docx

1、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 二一 三 年 四月 一 日 Tracking Trajectory Planning of Space Manipulator for Capturing Operation Panfeng Huang1; Yangsheng Xu2 and Bin Liang3 College of Astronautics, Northwestern Polytechnical Univers

2、ity, China 2 Department of Automation and Computer-Aided Engineerging, The Chinese University of Hong Kong, Hong Kong Shenzhen Space Technology Center, Harbin Instute of Technology, China pfhuang Abstract: On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is a greatchallenge

3、for future space service. This paper mainly present a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards

4、 USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of dynamics singularities and dynamics couple of space robot system. Therefore, we utilize interval algorithm to handle these difficulties. The simulation

5、study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it.Keywords: Space manipulator, tracking trajectory planning, interval algorithms, polyn

6、ominal spline functionIntroductionThis paper deals with a special problem oftrackitrjectoryplanningofspacemanipulatofor capturing the uncontrolled spinning satellites. On-orbit capturingisachallengeworkforspacerobotsystem in the future space service. The space robot science has gotten big progress i

7、n the pastdecade.T herefore, on-orbit service for uncontrolled satellite will be a main application of space robot in orderreduce the space cost in the future. When human being launched the first space robot and operated itto accomplish the space mission, space robot began to be utilized in differen

8、tspacetasks. Nowadays space robots are aiding to construct and maintain the InternationalSpaceStatio andservicingthspace telescope. Therefore space robotic servicing forsatellitsuchrescue,repairrefuelling and maintenance, promise to extendsatellitelifeandreducecostsmakesitoneofthemostattractiveareas

9、ofdevelopingtechnology.Spacerobots are likelytoplay more and more important roles insatelliteservicingmissionandspaceconstructionmission in the future. The approach ancaptureoperation must be solved firstly in order to accomplish all these missions. A well known space robot, the Shuttle Remote Manip

10、ulator System (SRMSorCanadarm) D. Zimpfer and P. Spehar, 1996 was operated to assist capture and berth the satellite from the shuttle by the astronaut. NASA missions STS-61, STS-82, and STS-103 repaired the Hubble Japan demonstratedthe space manipulator to capture acooperative satellite whose attitu

11、de is stabilized during the demonstration viatele-operationfromthegroundcontrolstationKawano,I.,etal.1998,NoriyasuInaba,etal,2000.Allmentiabovespacerobotic technologies demonstrate the usefulness of space robot for space servicing. However their use is limited to capture the satellites that are coop

12、erative and attitude stabilized. For instance, the rotatedattwodeg/sec.NASAmissionThereforethecaptureandrecovery of a valuable uncontrolled satellite can be a class of future missionforthefuturespacerobot.Nearlyallofsatelliteservicingmissionsoccurredhavebeen executed by Extra-Vehicular Activity (EVA

13、) of the astronaut with the limited help of space robotic manipulator. It is very expensive and dangerous for the astronauts to capture an uncontrolled spinning satellite, even forslowlyspinning satellite. On the other hand, space robotic technologybecomesmoreandmore advancrecently. The space robot

14、carries out such satellite servicing mission automatically or with limited human support in the future. However, the first step of the capture is how to track and approach the target satellite. Stephen Jacobsen et al Jacobsen, S., et al. (2002) presented to plan a safekinematicstrajectory f or free

15、flying robots approaching an uncontrolled spinning satellite, they address how to let the space robot approach to the workspace of robotic manipulator in whichthemanipulatorcanoperate and capture the USS. Therefore,this paper assumes that the target satellite isintheworkspaceof space manipulator. it

16、 is desirable to contrive a new tracking and approach trajectory for space manipulator to capture the target satellite.So far, there are many studies on trajectory planning of space robot. S. Dubowsky and Kazuya Yoshida K.HashizumKyoshidandKHashizume (2001) utilized the ETS-VII as Yangsheng Xu Om P. Agrawal and Yangsheng Xu (1994) introduced a global optimum path planning forredundantspa

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