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  4. Vol 6, Issue 4, 2022

Experimental Research on Trajectory Planning and Control of Space Robot Target Capture

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DOI: 10.23977/acss.2022.060410 | Downloads: 15 | Views: 640

Author(s)

Haifeng Guo 1, Yiyang Wang 1, Wenyi Li 1

Affiliation(s)

1 Liaoning Institute of Science and Technology, Benxi, 117004, China

Corresponding Author

Haifeng Guo

ABSTRACT

With the continuous deepening of human space exploration activities, space robot service technology occupies an important position in ensuring the reliable and efficient operation of satellites and space stations. Target capture involves the process of trajectory planning before capture, approaching the target to be captured, capturing and controlling the target. Based on this, this paper conducts experimental research on the trajectory planning and control of space robot target capture. This article first analyzes the capture mechanism of the space robot based on the friction elimination theory. In order to plan the path of target capture more accurately, this paper proposes a target motion prediction algorithm under the state of a uniform velocity model to design the impedance control of the robot arm joint space. Finally, an experimental study was carried out to verify the characteristics of the trajectory planning method proposed in this paper. The experimental results show that during the entire target acquisition process, the maximum tracking errors of the attitude control system's X-axis, Y-axis, and Z-axis are 0.003m, 0.002m, and 0.004m. In addition, although the target movement speed is high and the movement direction changes frequently, the tracking accuracy of the robot arm end to the target is still very good.

KEYWORDS

Manipulator Capture, Trajectory Planning, Space Robot, Impedance Control

CITE THIS PAPER

Haifeng Guo, Yiyang Wang, Wenyi Li, Experimental Research on Trajectory Planning and Control of Space Robot Target Capture. Advances in Computer, Signals and Systems (2022) Vol. 6: 78-85. DOI: http://dx.doi.org/10.23977/acss.2022.060410.

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