1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China
2. Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus 43210, USA
3. Shenzhen Key Lab of Space Robotic Technology and Telescience, Shenzhen Graduate School, Tsinghua University, Shenzhen 518055, China
Flexible appendages, such as solar panels, communication antennas and other large structures, are mounted on the base of a space robot and target satellite. The vibration of the flexible structure is excited by operations of a space manipulator. It is very challenging to control the vibration of large flexible appendages for on-orbit operation and, especially when the manipulator operates a non-cooperative target with unknown structural parameters and vibration information. In this study, a hybrid control method is proposed based on wave-based control and PD control methods to control the motion of a manipulator while suppressing the vibration of appendages. First, the rigid-flexible coupled dynamic model of a compounded system is established. This is followed by designing a hybrid control strategy combining wave-based control and PD control for rest-to-rest maneuvers based on the characteristics of the compounded system. Finally, the simulation of a 3D compounded system is provided to verify the effectiveness of the presented approach. The simulation results indicate that the space robot can successfully berth the target while suppressing the vibrations of the structure.
This work was supported by National Natural Science Foundation of China (Grant No. 61573116), Natural Science Foundation of Guangdong Province (Grant Nos. 2014A030310318, 2015A030313881) and Basic Research Program of Shenzhen (Grant Nos. JCYJ20140417172417095, JCYJ20160427183553203).
The model of the compounded system.
The lumped mass model of the flexible solar paddle.
The simplified model of the flexible joint.
A schematic of the wave-based control.
Infinite loop of the wave.
The model of wave-based control for rotating the lumped flexible system.
(Color online) Hybrid control strategy for a large flexible spacecraft in-orbit operation.
(Color online) The compounded system.
The coordinate system of the robot base and its solar wing.
The coordinate system of the target base and its solar wing.
The coordinate system of the space manipulator.
(Color online) The berthing configuration of the compounded system.
(Color online) The curves of the deformation angle of the torsion spring of the appendages.
(Color online) The curves of the joint torques.
(Color online) The curves of the motor angles.
(Color online) The curves of the joint angles.
(Color online) The position and orientation of the space robot base.
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