Space Robotics for Capture and Service to Non-Cooperative Satellites

用于捕获和服务非合作卫星的空间机器人

基本信息

批准号：
14350125
负责人：
YOSHIDA Kazuya
金额：
$ 8.96万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2005
项目状态：
已结题

项目摘要

We have studied control technologies and basic system design of space robots for orbital servicing, which are able to capture and repair malfunctioning non-cooperative satellites using their manipulator arm(s). In this project, the following results have been obtained :1. Modeling of Contact DynamicsModeling and analysis of the contact dynamics for free-flying objects have been carried out both theoretically and experimentally. A method for identifying the mechanical impedance of the target object has been established. We developed a micro-gravity experimental setup using a spacecraft model that floats slightly on a horizontal granite table by pressurized air. The validity of our model and theory have been confirmed throughout the experiments2. Manipulator Control to Prevent Pushing the Target Away in the CaptureWhen a free-flying space robot captures a target satellite, the target object can be easily bounced away by the contact force. Impedance control is effective to reduce the contact force. We have investigated the dynamic conditions to maintain the contact between the free-flying manipulator arm and the target based on the "Impedance Matching" theory. It is proved throughout experiments that the equivalent mass of the end tip of the arm coming from the impedance control is a reasonable criterion for preventing pushing the target away.3. Advanced Control for Space Redundant Macro-Micro ManipulatorsThe macro-micro manipulator is a promising system for orbital servicing, which consists of a long (macro) arm and a small fine (micro) arm. The macro arm provides a long-reach capability and the micro arm performs the dexterous manipulation. However, the macro part can generate vibrations due to structural flexibility. The motion of the small arm induces vibrations onto the macro part, hence, resulting in the reduction of its positioning accuracy. In this study, a control method for an accurate and quick manipulation preventing such vibrations has been established.

我们已经研究了用于轨道维修的空间机器人的控制技术和基本系统设计，它们能够使用其操纵器组（S）捕获和修复非合作卫星的故障。在该项目中，已经获得以下结果：1。在理论上和实验中，都对接触动力学建模的建模和对自由向物体的接触动力学进行了分析。已经建立了一种识别目标对象的机械阻抗的方法。我们使用航天器模型开发了微夺取的实验设置，该航天器模型通过加压空气稍微漂浮在水平花岗岩桌上。在整个实验中，我们的模型和理论的有效性已得到证实。操纵器控制以防止在自由飞行的空间机器人捕获目标卫星时将目标推开时，可以通过接触力轻松弹跳目标对象。阻抗控制可有效减少接触力。我们已经研究了基于“阻抗匹配”理论的自由飞行操纵器组与目标之间接触的动态条件。在整个实验中证明，来自阻抗控制的手臂末端的等效质量是防止将目标推开的合理标准。3。空间冗余宏观操纵器的高级控制宏 - 微米操纵器是一个有前途的轨道维修系统，由长（宏）臂和小罚款（微型）组成。宏手臂提供了长距离的功能，并且微臂执行灵巧的操纵。但是，宏部分可以由于结构灵活性而产生振动。小臂的运动可引起宏观部分的振动，因此导致其定位精度降低。在这项研究中，已经建立了一种控制方法，以防止准确，快速操纵这种振动。