Abstract
In order to avoid damage to service satellites and targets during space missions and improve safety and reliability, it is necessary to study how to eliminate or reduce the rotation of targets. This paper focused on a space detumbling robot and studied the space detumbling robot dynamics and robot arm deployment path planning. Firstly, a certain space detumbling robot with a ‘platform + manipulator + end effector’ configuration is proposed. By considering the end effector as a translational joint, the entire space detumbling robot is equivalent to a link system containing six rotating joints and three translational joints, and the detailed derivation process of the kinematic and dynamic model is presented. Then, ADAMS and MATLAB were used to simulate the model, and the MATLAB results were compared with the ADAMS results to verify the correctness of the model. After that, the robot arm deployment problem was analyzed in detail from the aspects of problem description, constraint analysis and algorithm implementation. An algorithm of robot arm deployment path planning based on the Bi-FMT* algorithm is proposed, and the effectiveness of the algorithm is verified by simulation.
Highlights
Space operation and control refer to the on-orbit activity for specific targets with or without people’s participation to achieve proximity detection, auxiliary orbit maneuvers, fault maintenance, fuel filling, system upgrades, assembly, construction, rescue and space debris removal [1]
It is worth noting that the fast marching tree (FMT*) algorithm proposed by Janson et al [41] is a conceptually novel sampling-based path planning algorithm, and numerical simulation experiments have shown that the FMT* algorithm can converge to the optimal solution faster than probabilistic road map (PRM)* and rapid exploration random tree (RRT)* in the face of a high-dimensional state space and complex collision detection
On-orbit service
Summary
Space operation and control refer to the on-orbit activity for specific targets with or without people’s participation to achieve proximity detection, auxiliary orbit maneuvers, fault maintenance, fuel filling, system upgrades, assembly, construction, rescue and space debris removal [1]. It is suitable for a target and provide a higher braking efficiency with an with a lower speed considering the on-orbit accurate torque control model This identification efficiency and the manipulator type of detumbling mode needs a service satelWhen the net or tether catches the target, the precision. It is worth noting that the fast marching tree (FMT*) algorithm proposed by Janson et al [41] is a conceptually novel sampling-based path planning algorithm, and numerical simulation experiments have shown that the FMT* algorithm can converge to the optimal solution faster than PRM* and RRT* in the face of a high-dimensional state space and complex collision detection. The endto effector is designed as a flexible brush, whichacan be be spherical considered equivalent a translational joint with fixed len considered equivalent to a translational joint with a fixed length
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