Work

Parameters identification and trajectory optimization of free-floating space robots

Year: 2023

Type: article

Abstract: There is a strong dynamic coupling between the base of free-floating space robot and the space manipulator. In order to reduce the interference of the movement of the space manipulator on the robot's base, the trajectory of the space manipulator needs to be optimized. In this paper, the joint path of space manipulators is optimized by using the pseudo-spectral method to reduce the impact of the arm movement on the base. For space robots, parameters identification is the premise of trajectory planning. A parameters identification method is proposed, which only needs to measure the base's angular speed. Numerical simulation results verify the validity of the proposed method. The attitude angle of floating base returns to the initial state after maneuvers of space manipulators.

Source: Mathematical Foundations of Computing

DOI: 10.3934/mfc.2023027

Authors: Deshan Meng, Yanan Li, Ruiqi Wang, Xudong Zheng

Institutions: Sun Yat-sen University, Harbin Institute of Technology, Tsinghua University, Beijing University of Posts and Telecommunications

Language: English

Topic: Space Satellite Systems and Control

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funders: State Key Laboratory of Robotics, Basic and Applied Basic Research Foundation of Guangdong Province

Award: G5397773880