Abstract
In order to prevent joints from being damaged by impact force in a space robot capturing satellite, a spring-damper device (SDD) is added between the joint motor and manipulator. The device can not only absorb and attrition impact energy, but also limit impact force to a safe range through reasonable design compliance control strategy. Firstly, the dynamic mode of the space robot and target satellite systems before capture are established by using a Lagrange function based on dissipation theory and Newton-Euler function, respectively. After that, the impact effect is analyzed and the hybrid system dynamic equation is obtained by combining Newton’s third law, momentum conservation, and a kinematic geometric relationship. To realize the buffer compliance stability control of the hybrid system, a reinforcement learning (RL) control strategy based on a fuzzy wavelet network is proposed. The controller consists of a performance measurement unit (PMU), an associative search network (ASN), and an adaptive critic network (ACN). Finally, the stability of system is proved by Lyapunov theorem, and both the impact resistance of SDD and the effectiveness of buffer compliance control strategy are verified by numerical simulation.
Highlights
IntroductionSpace exploration is of great significance to the development of resources exploration, meteorological observation, navigation, and positioning, so a large number of satellites are launched into space every year
Academic Editors: Dario RichiedeiSpace exploration is of great significance to the development of resources exploration, meteorological observation, navigation, and positioning, so a large number of satellites are launched into space every year
The controller consists of a performance measurement unit (PMU), an associative search network (ASN) and an adaptive critic network (ACN)
Summary
Space exploration is of great significance to the development of resources exploration, meteorological observation, navigation, and positioning, so a large number of satellites are launched into space every year. If the satellites can be recovered, the cost of space exploration will be greatly saved. It is feasible to use a space robot to complete the capture task. This has become one of the research hot spots of space exploration [1–8]. The process of capture operation can be divided into four stages: (1) the space robot observes the target satellite; (2) a pre-operation stage before capture operation, such as deceleration and detumbling control of the target satellite;
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call