空间机械手的跟踪捕捉操作.docVIP

毕业设计外文资料翻译 题 目 空间机械手的跟踪捕捉操作 学 院 机械工程学院 专 业 机械工程及自动化 班 级 机自0917班 学 生 廉开发 学 号 20090421170 指导教师 苏东宁 二〇一 三 年 四月 一 日 \Tracking Trajectory Planning of Space Manipulator for Capturing Operation Panfeng Huang1; Yangsheng Xu2 and Bin Liang3 College of Astronautics, Northwestern Polytechnical University, China 2 Department of Automation and Computer-Aided Engineerging, The Chinese University of Hong Kong, Hong Kong Shenzhen Space Technology Center, Harbin Instute of Technology, China pfhuang@nwpu.edu.cn \\Abstract: On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is a greatchallenge for future space service. This paper mainly present a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of dynamics singularities and dynamics couple of space robot system. Therefore, we utilize interval algorithm to handle these difficulties. The simulation study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it. Keywords: Space manipulator, tracki