空间机械手的跟踪捕捉操作

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\TrackingTrajectoryPlanningofSpaceManipulatorforCapturingOperationPanfengHuang1;YangshengXu2andBinLiang3CollegeofAstronautics,NorthwesternPolytechnicalUniversity,China2DepartmentofAutomationandComputer-AidedEngineerging,TheChineseUniversityofHongKong,HongKongShenzhenSpaceTechnologyCenter,HarbinInstuteofTechnology,[e-mail]\\Abstract:On-orbitrescuinguncontrolledspinningsatellite(USS)usingspacerobotisagreatchallengeforfuturespaceservice.Thispapermainlypresentatrajectoryplanningmethodofspacemanipulatorthatcantrack,approachandcatchtheUSSinfree-floatingsituation.AccordingtothemotioncharacteristicsofUSS,weplanaspiralascendingtrajectoryforspacemanipulatortoapproachtowardsUSSinCartesianspace.However,itisdifficulttomapthistrajectoryintothejointspaceandrealizefeasiblemotioninjointspacebecauseofdynamicssingularitiesanddynamicscoupleofspacerobotsystem.Therefore,weutilizeintervalalgorithmtohandlethesedifficulties.Thesimulationstudyverifiesthatthespiralascendingtrajectorycanbeenrealized.Moreover,themotionofmanipulatorissmoothandstable,thedisturbancetothebaseissolimitedthattheattitudecontrolcancompensateit.Keywords:Spacemanipulator,trackingtrajectoryplanning,intervalalgorithms,polynominalsplinefunctionIntroductionThispaperdealswithaspecialproblemoftrackitrjectoryplanningofspacemanipulatoforcapturingtheuncontrolledspinningsatellites.On-orbitcapturingisachallengeworkforspacerobotsysteminthefuturespaceservice.Thespacerobotsciencehasgottenbigprogressinthepastdecade.Therefore,on-orbitserviceforuncontrolledsatellitewillbeamainapplicationofspacerobotinorderreducethespacecostinthefuture.Whenhumanbeinglaunchedthefirstspacerobotandoperatedittoaccomplishthespacemission,spacerobotbegantobeutilizedindifferentspacetasks.NowadaysspacerobotsareaidingtoconstructandmaintaintheInternationalSpaceStatioandservicingthspacetelescope.Thereforespaceroboticservicingforsatellitsuchrescue,repairrefuellingandmaintenance,promisetoextendsatellitelifeandreducecostsmakesitoneofthemostattractiveareasofdevelopingtechnology.Spacerobotsarelikelytoplaymoreandmoreimportantrolesinsatelliteservicingmissionandspaceconstructionmissioninthefuture.Theapproachancaptureoperationmustbesolvedfirstlyinordertoaccomplishallthesemissions.Awellknownspacerobot,theShuttleRemoteManipulatorSystem(SRMSor`Canadarm'')[D.ZimpferandP.Spehar,1996]wasoperatedtoassistcaptureandberththesatellitefromtheshuttlebytheastronaut.NASAmissionsSTS-61,STS-82,andSTS-103repairedtheHubbleJapandemonstratedthespacemanipulatortocaptureacooperativesatellitewhoseattitudeisstabilizedduringthedemonstrationviatele-operationfromthegroundcontrolstation[Kawano,I.,etal.1998],[NoriyasuInaba,etal,2000].Allmentiabovespacerobotictechnologiesdemonstratetheusefulnessofspacerobotforspaceservicing.Howevertheiruseislimitedtocapturethesatellitesthatarecooperativeandattitudestabilized.Forinstance,therotatedattwodeg/sec.NASAmissionThereforethecaptureandrecoveryofavaluableuncontrolledsatellitecanbeaclassoffuturemissionforthefuturespacerobot.NearlyallofsatelliteservicingmissionsoccurredhavebeenexecutedbyExtra-VehicularActivity(EVA)oftheastronautwiththelimitedhelpofspaceroboticmanipulator.Itisveryexpensiveanddangerousfortheastronautstocaptureanuncontrolledspinningsatellite,evenforslowlyspinningsatellite.Ontheotherhand,spacerobotictechnologybecomesmoreandmoreadvancrecently.Thespacerobotcarriesoutsuchsatelliteservicingmissionautomaticallyorwithlimitedhumansupportinthefuture.However,thefirststepofthecaptureishowtotrackandapproachthetargetsatellite.StephenJacobsenetal[Jacobsen,S.,etal.(2002)]presentedtoplanasafekinematicstrajectoryforfreeflyingrobotsapproachinganuncontrolledspinningsatellite,theyaddresshowtoletthespacerobotapproachtotheworkspaceofroboticmanipulatorinwhichthemanipulatorcanoperateandcapturetheUSS.Therefore,thispaperassumesthatthetargetsatelliteisintheworkspaceofspacemanipulator.itisdesirabletocontriveanewtrackingandapproachtrajectoryforspacemanipulatortocapturethetargetsatellite.Sofar,therearemanystudiesontrajectoryplanningofspacerobot.S.DubowskyandKazuyaYoshidaK.HashizumKyoshidandKHashizume(2001)]utilizedtheETS-VIIasYangshengXu[OmP.AgrawalandYangshengXu(1994)]introducedaglobaloptimumpathplanningforredundantspacemanipulator.AllexamplesmentionedinteracHowever,onlyfewresearchersworkontrackingtrajectoryplanningofspacemanipulatorforcapturingthuncontrolledsatelliteinfact.Hiroyukietal[HiroyukiNagamatus,etal.(1996)]presentedacapturestrategyforretrievalofatumblingsatellitebyaspaceroboticmanipulator.ZhenghuaLuoandYoshiyukisakawa[ZhenghuaLuoandYoshiyukiSakawa(1990)]discussedthecontrollawofcapturingatumblingobjectbyaspacemanipulator.Therefore,howoplanfeasibletrackingtrajectorybecomesatorbasedonspacebaseisdifferentwithterrestrialmanipulatorintrajectoryplanningandcontrol.HenceitisnecessarytoplanthetrackingtrajectoryofspacemanipulatorforapturingUSSfromtheengineeringpointofview.Thispaperaimstoaddressaninnovativetrackingrajectoryplan