Abstract
A strategy for attitude adjustment of a free-floating space robot is proposed to reduce fuel consumption and time required to operate a space manipulator and its carrier before and after the detection of an on-orbit spacecraft. This strategy can be used in such a way that the carrier attitude and space manipulator joint angle reach their expected values at the same time. In order to obtain an advanced effect of carrier attitude adjustment, a novel parameterization method of joint trajectory is proposed, which extends the search scope of the joint trajectory by the fusion of the 4-3-4 and 3-5-3 planning methods. An objective function is defined according to the difference of the expected and initial carrier attitudes. A genetic algorithm is used to search for an optimal solution of the parameters. The effectiveness of the proposed strategy is verified through simulations for a six-degree-of-freedom (6-DOF) space robot system.
Highlights
Continuous development of space technologies has led to increasing demand for longer life cycles and higher reliability of future spacecraft
To ensure stable and reliable operation of spacecraft in complicated space environments, on-orbit detection has currently become a key technology for spacecraft fault diagnosis and threat warning
Space robotic technologies are currently being developed by several countries; examples include the Japanese ETSVII [5], the American Orbital Express [6], and the German Light Weight Robot [7] and ROKVISS [8]
Summary
Continuous development of space technologies has led to increasing demand for longer life cycles and higher reliability of future spacecraft. Keywords Space Manipulator, Attitude Adjustment, Parameterization Function, On-orbit Detection, Trajectory Planning
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