contributor author | Bowen Zhan | |
contributor author | Minghe Jin | |
contributor author | Guocai Yang | |
contributor author | Zhiyuan Zhao | |
date accessioned | 2022-05-07T21:10:54Z | |
date available | 2022-05-07T21:10:54Z | |
date issued | 2022-01-25 | |
identifier other | (ASCE)AS.1943-5525.0001388.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4283413 | |
description abstract | Space robots are widely used for on-orbit capturing. After capturing a rotational non-cooperative target, its momentums produce unpredictable movements for the resultant space robot-target compound system. In order to address this problem, a collision-free detumbling strategy (CFDS) is proposed for space robots with a single 7-degree-of-freedom (DOF) manipulator. First, an acceleration potential field (AccPF) is presented for planning detumbling velocity trajectories, which guide the compound system to terminal rest while guaranteeing collision avoidance in dynamic environments. Energy conservation and acceleration limitations are considered in the trajectory generation. Afterwards, with a radial basis function neural network (RBFNN) approximating the target’s uncertain dynamics, an adaptive control scheme is established to precisely track the planned detumbling velocity trajectory. Furthermore, system stability is certified by a Lyapunov function. The effectiveness of the CFDS is eventually validated by simulations. | |
publisher | ASCE | |
title | A Novel Collision-Free Detumbling Strategy for a Space Robot with a 7-DOF Manipulator in Postcapturing Phase | |
type | Journal Paper | |
journal volume | 35 | |
journal issue | 3 | |
journal title | Journal of Aerospace Engineering | |
identifier doi | 10.1061/(ASCE)AS.1943-5525.0001388 | |
journal fristpage | 04022008 | |
journal lastpage | 04022008-14 | |
page | 14 | |
tree | Journal of Aerospace Engineering:;2022:;Volume ( 035 ):;issue: 003 | |
contenttype | Fulltext | |