中国空间科学技术

Chinese Space Science and Technology ›› 2016, Vol. 36 ›› Issue (3): 24-31.doi: 10.16708/j.cnki.1000-758X.2016.0036

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Analysisonflexiblespacemanipulatorsystemassisteddockingofspacestation

 WEI  Qing-Qing1,2,*, WANG  Yao-Bin1,2g, TANG  Zi-Xin1,2, ZHANG  Da-Wei1,2   

  1. 1BeijingKeyLaboratoryofIntelligentSpaceRoboticSystemsTechnologyandApplications， Beijing100094，China
    2BeijingInstituteofSpacecraftSystemEngineering，Beijing100094，China
  • Received:2016-01-11 Revised:2016-04-11 Published:2016-06-25 Online:2016-05-11

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Abstract: Positionerrorsandangleerrorsexistinevitablyinspacemanipulatorsystemassisteddockingofspacecraft.Adynamicandcontrolmodelconcernedthecontactionbetweenthedockingsystemwassetuptosimulatethespacemanipulatorsystemassisteddockingofspacecraft.Theimpedancecontrolsystemassociatedwiththedetailedjointdynamicmodel,jointtorquecontrolsystemwasbuilt.Theresultsshowthatthespacemanipulatorsystemcouldovercometheinitialerrorofthespacecraft,andfinishthejobofspaceassisteddocking.Thecontrolforceturneddownimmediatelyafterthespacecraftwasdocked.Also,thespacemanipulatorsystemcouldholdthepositionandshape.

Key words: spacemanipulator, assisteddocking, jointdynamics, torquecontrol, impedancecontrol