DocumentCode :
1726142
Title :
Modeling and simulation study of flexible space robot for capturing large flexible spacecraft
Author :
Meng Deshan ; Xu Wenfu ; Xu Chao ; Mu Zonggao
Author_Institution :
Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China
fYear :
2013
Firstpage :
5837
Lastpage :
5842
Abstract :
A future spacecraft, the target to be serviced by a space robot, is growing in size to meet ever more demanding mission requirements. Large flexible components, such as antenna reflectors and solar paddles, are inevitably mounted on the spacecraft. Due to the structure vibration, it is very challenging for a flexible space robot to capture and repair a large flexible satellite. In this paper, we derived the dynamic model and developed a closed-loop simulation system, to supply a means to verify key path planning and control algorithms. Firstly, the dynamic characteristics of different capturing stages (pre-capture, contact/impact, and post-capture) are analyzed. The topologies of a flexible space robot and the compounded system after it captures a large flexible spacecraft are then described using incidence and channel matrixes. Secondly, the recursive dynamic is formulated and numerical calculus method is used to solve it. The modeling and resolving code is programmed by C language, and verified with ADAMS model. Thirdly, the dynamic calculation block is implemented in Matlab/Simulink environment using S-function package, and the closed-loop simulation system is developed. Finally, dynamic simulation of on-orbital manipulating the target along a circle is performed. Some useful rules are then presented to suppress the vibration of the flexible structure.
Keywords :
aerospace computing; aerospace robotics; artificial satellites; control engineering computing; matrix algebra; path planning; robot dynamics; vibration control; ADAMS model; C language; Matlab-Simulink environment; S-function package; antenna reflectors; channel matrix; closed-loop simulation system; contact-impact stage; control algorithm; dynamic calculation block; dynamic model; flexible satellite repair; flexible space robot; flexible spacecraft capture; incidence matrix; mission requirements; numerical calculus method; path planning algorithm; post-capture stage; pre-capture stage; solar paddles; space robot topology; structure vibration; vibration suppression; Aerospace electronics; Equations; Joints; Mathematical model; Robots; Software packages; Space vehicles; Dynamic Modeling; Flexible Space Robot; Large Flexible Spacecraft; Target Capturing; Vibration Suppression;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
Type :
conf
Filename :
6640460
Link To Document :
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