Journal of Astronautics ›› 2021, Vol. 42 ›› Issue (10): 1305-1316.doi: 10.3873/j.issn.1000-1328.2021.10.011

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Impact Analysis and Trajectory Planning Stabilization Control for Space Robot after Capturing Target

FAN Mao, TANG Liang   

  1. 1. Beijing Institute of Control Engineering, Beijing 100190, China;2. Science and Technology on Space Intelligent Control Laboratory, Beijing 100190, China
  • Received:2020-08-18 Revised:2021-02-08 Online:2021-10-15 Published:2021-10-15

Abstract: A stable control strategy which costs lower control energy and produces less disturbance to the platform is proposed for a free floating robot after being impacted by the captured target, and the influence of the impact on the space robot system is analyzed after capturing the target. Firstly, the dynamic model of the target manipulator platform compound system is established by the Kane equation; and then, the ADAMS software is used to analyze the impact on the space robot when capturing the target which provides initial simulation conditions for the control strategy; after that, the weighted objective function is set up for the differential evolution (DE) algorithm to search the joints space trajectory which is parameterized by the quartic polynomial. And the DE algorithm solves and gets joints trajectory which costs lower control energy and produces less disturbance to the platform. Finally, the numerical simulation result based on the free floating space robot with 7 degrees of freedom shows the validity of the proposed control strategy.

Key words: Space robot capturing, ADAMS simulation, Trajectory planning, Stable control, Differential evolution algorithm

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