DYNAMICS AND CONTROL FOR TRAJECTORY TRACKING OF PARALLEL SPACE CAPTURING ROBOT

Fei Liu; Quan Hu; Lei Liu; Xiaohui Li; Weihui Liu; Wen Wen; Jingchao Zhao

DYNAMICS AND CONTROL FOR TRAJECTORY TRACKING OF PARALLEL SPACE CAPTURING ROBOT

Fei Liu, Quan Hu, Lei Liu, Xiaohui Li, Weihui Liu, Wen Wen, Jingchao Zhao

School of Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Parallel mechanism is widely used in aerospace engineering because of its high structural rigidity, large load capacity, and precise motion ability. In this work, a parallel mechanism is utilized as the actuator of a free-floating robot for on-orbit target capturing. The target can be captured by the interior space of the mechanism. The resultant system is named as the parallel space robot (PSR). The PSR’s dynamics model is established from multibody perspective through Mag-gi-Kane’s method. A finite time adaptive controller and a torque distribution law are developed for the trajectory tracking. Numerical simulations demonstrate the effectiveness and efficiency of the given control scheme for PSR.

Original language	English
Title of host publication	ASTRODYNAMICS 2020
Editors	Roby S. Wilson, Jinjun Shan, Kathleen C. Howell, Felix R. Hoots
Publisher	Univelt Inc.
Pages	679-694
Number of pages	16
ISBN (Print)	9780877036753
Publication status	Published - 2021
Event	AAS/AIAA Astrodynamics Specialist Conference, 2020 - Virtual, Online Duration: 9 Aug 2020 → 12 Aug 2020

Publication series

Name	Advances in the Astronautical Sciences
Volume	175
ISSN (Print)	0065-3438

Conference

Conference	AAS/AIAA Astrodynamics Specialist Conference, 2020
City	Virtual, Online
Period	9/08/20 → 12/08/20

Cite this

@inproceedings{4a032609458240e0be75482608cce0c9,

title = "DYNAMICS AND CONTROL FOR TRAJECTORY TRACKING OF PARALLEL SPACE CAPTURING ROBOT",

abstract = "Parallel mechanism is widely used in aerospace engineering because of its high structural rigidity, large load capacity, and precise motion ability. In this work, a parallel mechanism is utilized as the actuator of a free-floating robot for on-orbit target capturing. The target can be captured by the interior space of the mechanism. The resultant system is named as the parallel space robot (PSR). The PSR{\textquoteright}s dynamics model is established from multibody perspective through Mag-gi-Kane{\textquoteright}s method. A finite time adaptive controller and a torque distribution law are developed for the trajectory tracking. Numerical simulations demonstrate the effectiveness and efficiency of the given control scheme for PSR.",

author = "Fei Liu and Quan Hu and Lei Liu and Xiaohui Li and Weihui Liu and Wen Wen and Jingchao Zhao",

year = "2021",

language = "English",

isbn = "9780877036753",

series = "Advances in the Astronautical Sciences",

publisher = "Univelt Inc.",

pages = "679--694",

editor = "Wilson, {Roby S.} and Jinjun Shan and Howell, {Kathleen C.} and Hoots, {Felix R.}",

booktitle = "ASTRODYNAMICS 2020",

address = "United States",

}

DYNAMICS AND CONTROL FOR TRAJECTORY TRACKING OF PARALLEL SPACE CAPTURING ROBOT. / Liu, Fei; Hu, Quan; Liu, Lei et al.
ASTRODYNAMICS 2020. ed. / Roby S. Wilson; Jinjun Shan; Kathleen C. Howell; Felix R. Hoots. Univelt Inc., 2021. p. 679-694 (Advances in the Astronautical Sciences; Vol. 175).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - DYNAMICS AND CONTROL FOR TRAJECTORY TRACKING OF PARALLEL SPACE CAPTURING ROBOT

AU - Liu, Fei

AU - Hu, Quan

AU - Liu, Lei

AU - Li, Xiaohui

AU - Liu, Weihui

AU - Wen, Wen

AU - Zhao, Jingchao

PY - 2021

Y1 - 2021

N2 - Parallel mechanism is widely used in aerospace engineering because of its high structural rigidity, large load capacity, and precise motion ability. In this work, a parallel mechanism is utilized as the actuator of a free-floating robot for on-orbit target capturing. The target can be captured by the interior space of the mechanism. The resultant system is named as the parallel space robot (PSR). The PSR’s dynamics model is established from multibody perspective through Mag-gi-Kane’s method. A finite time adaptive controller and a torque distribution law are developed for the trajectory tracking. Numerical simulations demonstrate the effectiveness and efficiency of the given control scheme for PSR.

AB - Parallel mechanism is widely used in aerospace engineering because of its high structural rigidity, large load capacity, and precise motion ability. In this work, a parallel mechanism is utilized as the actuator of a free-floating robot for on-orbit target capturing. The target can be captured by the interior space of the mechanism. The resultant system is named as the parallel space robot (PSR). The PSR’s dynamics model is established from multibody perspective through Mag-gi-Kane’s method. A finite time adaptive controller and a torque distribution law are developed for the trajectory tracking. Numerical simulations demonstrate the effectiveness and efficiency of the given control scheme for PSR.

UR - http://www.scopus.com/inward/record.url?scp=85126248578&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:85126248578

SN - 9780877036753

T3 - Advances in the Astronautical Sciences

SP - 679

EP - 694

BT - ASTRODYNAMICS 2020

A2 - Wilson, Roby S.

A2 - Shan, Jinjun

A2 - Howell, Kathleen C.

A2 - Hoots, Felix R.

PB - Univelt Inc.

T2 - AAS/AIAA Astrodynamics Specialist Conference, 2020

Y2 - 9 August 2020 through 12 August 2020

ER -

DYNAMICS AND CONTROL FOR TRAJECTORY TRACKING OF PARALLEL SPACE CAPTURING ROBOT

Abstract

Publication series

Conference

Other files and links

Fingerprint

Cite this