Impedance control of multi-arm space robot for the capture of non-cooperative targets

doi:10.23919/JSEE.2020.000079

Journal of Systems Engineering and Electronics ›› 2020, Vol. 31 ›› Issue (5): 1051-1061.doi: 10.23919/JSEE.2020.000079

• Control Theory and Application • Previous Articles Next Articles

Impedance control of multi-arm space robot for the capture of non-cooperative targets

Dongming GE¹(), Guanghui SUN^2,*(), Yuanjie ZOU¹(), Jixin SHI¹()

¹ Beijing Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, China
² Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, China

Received:2019-09-29 Online:2020-10-30 Published:2020-10-30
Contact: Guanghui SUN E-mail:gedm1982@163.com;guanghuisun@hit.edu.cn;yuanjiez@qq.com;shijixin78@163.com
About author:GE Dongming was born in 1982. He is a Ph.D. and an associate professor of engineering with the Beijing Institute of Spacecraft System Engineering. His research interests include spacecraft dynamics and control, space robot dynamics and control, and spacecraft autonomous relative navigation. E-mail: gedm1982@163.com|SUN Guanghui was born in 1983. He received his B.S. degree in automation from Harbin Institute of Technology, Harbin, China, in 2005, and M.S. and Ph.D. degrees in control science and engineering from Harbin Institute of Technology, Harbin, China, in 2007 and 2010, respectively. He is currently a professor with the Department of Control Science and Engineering in Harbin Institute of Technology, Harbin, China. His research interests include fractional order system, nonlinear control system and sliding mode control. E-mail: guanghuisun@hit.edu.cn|ZOU Yuanjie was born in 1976. He is a Ph.D. and a professor of engineering with Beijing Institute of Spacecraft System Engineering. His research interests include spacecraft mechanical environment and spacecraft dynamics. E-mail: yuanjiez@qq.com|SHI Jixin was born in 1978. He is a Ph.D. and a professor of engineering with Beijing Institute of Spacecraft System Engineering. His research interests include spacecraft flexible dynamics, space robot dynamics and control, and spacecraft autonomous relative navigation. E-mail: shijixin78@163.com
Supported by:
the National Natural Science Foundation of China(61673009);This work was supported by the National Natural Science Foundation of China (61673009)

Abstract

Abstract:

Robotic systems are expected to play an increasingly important role in future space activities. The robotic on-orbital service, whose key is the capturing technology, becomes a research hot spot in recent years. This paper studies the dynamics modeling and impedance control of a multi-arm free-flying space robotic system capturing a non-cooperative target. Firstly, a control-oriented dynamics model is essential in control algorithm design and code realization. Unlike a numerical algorithm, an analytical approach is suggested. Using a general and a quasi-coordinate Lagrangian formulation, the kinematics and dynamics equations are derived. Then, an impedance control algorithm is developed which allows coordinated control of the multiple manipulators to capture a target. Through enforcing a reference impedance, end-effectors behave like a mass-damper-spring system fixed in inertial space in reaction to any contact force between the capture hands and the target. Meanwhile, the position and the attitude of the base are maintained stably by using gas jet thrusters to work against the manipulators' reaction. Finally, a simulation by using a space robot with two manipulators and a free-floating non-cooperative target is illustrated to verify the effectiveness of the proposed method.

Key words: multi-arm space robot, impedance control, noncooperative target, capture

Dongming GE, Guanghui SUN, Yuanjie ZOU, Jixin SHI. Impedance control of multi-arm space robot for the capture of non-cooperative targets[J]. Journal of Systems Engineering and Electronics, 2020, 31(5): 1051-1061.

Figures/Tables 6

References 30

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Impedance control of multi-arm space robot for the capture of non-cooperative targets

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