Zero Reaction Motion Trajectory Tracking for Space Manipulator with Non-zero Initial Momentum

doi:10.3780/j.issn.1000-758X.2015.05.003

›› 2015, Vol. 35 ›› Issue (5): 15-21.doi: 10.3780/j.issn.1000-758X.2015.05.003

Previous Articles Next Articles

Zero Reaction Motion Trajectory Tracking for Space Manipulator with Non-zero Initial Momentum

LIAO Zhi-Xiang¹, SHI Peng¹, ZHAO Yu-Shan¹, ZHENG Han-Qing²

（1SchoolofAstronautics，BeihangUniversity，Beijing100191）
（2ShanghaiAerospaceControlTechnologyInstitute，Shanghai200233）

Received:2015-04-28 Revised:2015-07-14 Published:2015-10-25 Online:2015-10-25

Abstract

Abstract: The free-floating manipulator system with non-zero initial momentum was studied.The configuration parameters of the manipulator system and the Lagrange equations were used to build the dynamic model. In order to eliminate the coupling effects between the base and the manipulators in angular velocity,the zero reaction motion equation was derived by using the manipulator system redundancy. A polynomial interpolation method was used to approach the trajectory of end-effector and the trajectory was planned due to the initial and final position of end-effector which could turn workspace of end effector into joints space. A suitable proportion-differentiation (PD) control algorithm was designed to drive manipulators movement. Simulation results demonstrate that the end-effector can smoothly track the target and the movement of the manipulator doesn′t make any disturbance to the base′s attitude at the same time and the spacecraft also can work normally because of the stability of base.

Key words: Spacemanipulator, Trajectorytracking, Zeroreactionmotion, PDcontrol, Polynomialinterpolation, Spacecraft

LIAO Zhi-Xiang, SHI Peng, ZHAO Yu-Shan, ZHENG Han-Qing. Zero Reaction Motion Trajectory Tracking for Space Manipulator with Non-zero Initial Momentum[J]. , 2015, 35(5): 15-21.

0
/ / Recommend

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://journal26.magtechjournal.com/kjkxjs/EN/10.3780/j.issn.1000-758X.2015.05.003

http://journal26.magtechjournal.com/kjkxjs/EN/Y2015/V35/I5/15

[1]	PENG Qibo, WU Xinfeng, WANG Beichao, LI Shuang. Research progress and prospect of spacecraft reconfiguration technology [J]. Chinese Space Science and Technology, 2023, 43(2): 16-31.
[2]	LIANG Wei, LI Jun, LI Jingling, CUI Tao, WEI Jiayuan, ZHANG Yi. Link-state-based adaptive interference cancellation for cabin in spacecraft [J]. Chinese Space Science and Technology, 2023, 43(2): 128-134.
[3]	DONG Yicheng, WANG Weizong, ZHANG Jinrui, QI Yue, YAN Jiaqi. Study on braking mechanism of planetary probe based on plasma magnetic shell [J]. Chinese Space Science and Technology, 2022, 42(6): 35-45.
[4]	WEI Jianyu, KANG Guohua, WU Junfeng, ZHAO Teng, QIU Yuhuan, XU Chuanxiao. Research on relative position and attitude measurement of visible light/laser combination [J]. Chinese Space Science and Technology, 2022, 42(6): 71-78.
[5]	LI Xiufeng, BAI Guangming, GAO Lingfei, HAN Shaohuan, ZHOU Jiang. Simplification method and application of dynamic analysis model for spacecraft equipment [J]. Chinese Space Science and Technology, 2022, 42(4): 27-35.
[6]	ZHANG Yuanxun, XU Liping, CHEN Guohui, XIE Gengxin, YANG Xiaojun. Analysis and application of deployment principles of large-scale spacecraft parts [J]. Chinese Space Science and Technology, 2022, 42(4): 129-145.
[7]	WANG Jue, WANG Min, GUO Tingting, ZHONG Xiaoqing, WEN Zheng, WEI Xin. Feasibility study of spacecraft gravity center offset compensation by intentional xenon temperature control [J]. Chinese Space Science and Technology, 2022, 42(2): 39-45.
[8]	YUAN Quan, LIN Hanzheng, ZHANG Jun, WEI Chunling. Attitude maneuver and physical test of large-scale spacecraft with ultra-low frequency [J]. Chinese Space Science and Technology, 2022, 42(1): 57-64.
[9]	TONG Yelong, TAO Zechao, LI Yifan, LIU Zhanjun, JIANG Lifeng, YIN Yazhou. Carbon materials with high thermal conductivity and its application in spacecraft [J]. Chinese Space Science and Technology, 2022, 42(1): 131-138.
[10]	MU Jinzhen, HAO Xiaolong, ZHU Wenshan, LI Shuang. Review and prospect of intelligent perception for non-cooperative targets [J]. Chinese Space Science and Technology, 2021, 41(6): 1-16.
[11]	SHENG Ruiqing, ZHAO Yang, ZOU Leyang, CHEN Chunliang, ZHU Shunjie, HUANG Hao, DU Ying, PENG Jing. Flight program design and implementation of unmanned automatic lunar sampling and return mission [J]. Chinese Space Science and Technology, 2021, 41(6): 91-102.
[12]	QIN Jiankai, LI Peng. High-accuracy target tracking estimation based on dual Kalman filter [J]. Chinese Space Science and Technology, 2021, 41(5): 116-124.
[13]	LI Qing, HUANG Jun, MIAO Yuanming, YU Hangjian. Computational methods of mass properties for liquid-filled spacecraft [J]. Chinese Space Science and Technology, 2021, 41(4): 69-76.
[14]	LAN Tian, GUO Jian, ZHANG Hongjun, DONG Zhenhui, WEI Yongquan. An onboard time acquisition method for spacecraft [J]. Chinese Space Science and Technology, 2021, 41(4): 111-120.
[15]	ZHANG Bingqiang, XIANG Yanchao, XUE Shuyan, ZHENG Kai, ZHONG Qi, ZHANG Youwei. Analysis of the influence of Mars surface thermal environment on spacecraft thermal control [J]. Chinese Space Science and Technology, 2021, 41(2): 55-62.

Zero Reaction Motion Trajectory Tracking for Space Manipulator with Non-zero Initial Momentum

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments