Space robotic de-tumbling of large target with eddy current brake in hand

Jiayu Liu; Baosen Du; Qiang Huang

doi:10.1007/978-3-319-65298-6_57

Space robotic de-tumbling of large target with eddy current brake in hand

Jiayu Liu^*, Baosen Du, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

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

1 Citation (Scopus)

Abstract

Space debris has increased with recent launch missions greatly. Former active debris removal tests using space robot mainly focused on the fundamental technology of target recognition, motion control and path planning. However, robot contacts directly with the surface of targets with large mass and angular momentum will cause severe collision problems. A target de-tumbling strategy is proposed in this paper by using two manipulators. Each arm is equipped with magnetic coil, which can generate eddy current in conductive targets and gradually de-tumble rotation without contact. The three-dimension rotation model of a discarded satellite and upstage is established based on its distribution of the moment of inertia and the safe working space of the robots is calculated. By analyzing the point of application and direction of the magnetic force, an optimized de-tumbling trajectory for the robot is presented to minimize the de-tumbling time by reducing the targets’ angular momentum. At last, a simulation is processed to verify the optimized de-tumbling method.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings
Editors	Honghai Liu, YongAn Huang, Hao Wu, Zhouping Yin
Publisher	Springer Verlag
Pages	637-649
Number of pages	13
ISBN (Print)	9783319652979
DOIs	https://doi.org/10.1007/978-3-319-65298-6_57
Publication status	Published - 2017
Event	10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 - Wuhan, China Duration: 16 Aug 2017 → 18 Aug 2017

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10464 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
Country/Territory	China
City	Wuhan
Period	16/08/17 → 18/08/17

Keywords

Eddy current brake
Large debris capture
On-orbit
Space robot
Tumbling target

Access to Document

10.1007/978-3-319-65298-6_57

Cite this

Liu, J., Du, B., & Huang, Q. (2017). Space robotic de-tumbling of large target with eddy current brake in hand. In H. Liu, Y. Huang, H. Wu, & Z. Yin (Eds.), Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings (pp. 637-649). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10464 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-65298-6_57

Liu, Jiayu ; Du, Baosen ; Huang, Qiang. / Space robotic de-tumbling of large target with eddy current brake in hand. Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. editor / Honghai Liu ; YongAn Huang ; Hao Wu ; Zhouping Yin. Springer Verlag, 2017. pp. 637-649 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{ec3ecd56054a44a5ab5715ddb796e28c,

title = "Space robotic de-tumbling of large target with eddy current brake in hand",

abstract = "Space debris has increased with recent launch missions greatly. Former active debris removal tests using space robot mainly focused on the fundamental technology of target recognition, motion control and path planning. However, robot contacts directly with the surface of targets with large mass and angular momentum will cause severe collision problems. A target de-tumbling strategy is proposed in this paper by using two manipulators. Each arm is equipped with magnetic coil, which can generate eddy current in conductive targets and gradually de-tumble rotation without contact. The three-dimension rotation model of a discarded satellite and upstage is established based on its distribution of the moment of inertia and the safe working space of the robots is calculated. By analyzing the point of application and direction of the magnetic force, an optimized de-tumbling trajectory for the robot is presented to minimize the de-tumbling time by reducing the targets{\textquoteright} angular momentum. At last, a simulation is processed to verify the optimized de-tumbling method.",

keywords = "Eddy current brake, Large debris capture, On-orbit, Space robot, Tumbling target",

author = "Jiayu Liu and Baosen Du and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG 2017.; 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 ; Conference date: 16-08-2017 Through 18-08-2017",

year = "2017",

doi = "10.1007/978-3-319-65298-6_57",

language = "English",

isbn = "9783319652979",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

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address = "Germany",

}

Liu, J, Du, B & Huang, Q 2017, Space robotic de-tumbling of large target with eddy current brake in hand. in H Liu, Y Huang, H Wu & Z Yin (eds), Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10464 LNAI, Springer Verlag, pp. 637-649, 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017, Wuhan, China, 16/08/17. https://doi.org/10.1007/978-3-319-65298-6_57

Space robotic de-tumbling of large target with eddy current brake in hand. / Liu, Jiayu; Du, Baosen; Huang, Qiang.
Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. ed. / Honghai Liu; YongAn Huang; Hao Wu; Zhouping Yin. Springer Verlag, 2017. p. 637-649 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10464 LNAI).

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

TY - GEN

T1 - Space robotic de-tumbling of large target with eddy current brake in hand

AU - Liu, Jiayu

AU - Du, Baosen

AU - Huang, Qiang

N1 - Publisher Copyright: © Springer International Publishing AG 2017.

PY - 2017

Y1 - 2017

N2 - Space debris has increased with recent launch missions greatly. Former active debris removal tests using space robot mainly focused on the fundamental technology of target recognition, motion control and path planning. However, robot contacts directly with the surface of targets with large mass and angular momentum will cause severe collision problems. A target de-tumbling strategy is proposed in this paper by using two manipulators. Each arm is equipped with magnetic coil, which can generate eddy current in conductive targets and gradually de-tumble rotation without contact. The three-dimension rotation model of a discarded satellite and upstage is established based on its distribution of the moment of inertia and the safe working space of the robots is calculated. By analyzing the point of application and direction of the magnetic force, an optimized de-tumbling trajectory for the robot is presented to minimize the de-tumbling time by reducing the targets’ angular momentum. At last, a simulation is processed to verify the optimized de-tumbling method.

AB - Space debris has increased with recent launch missions greatly. Former active debris removal tests using space robot mainly focused on the fundamental technology of target recognition, motion control and path planning. However, robot contacts directly with the surface of targets with large mass and angular momentum will cause severe collision problems. A target de-tumbling strategy is proposed in this paper by using two manipulators. Each arm is equipped with magnetic coil, which can generate eddy current in conductive targets and gradually de-tumble rotation without contact. The three-dimension rotation model of a discarded satellite and upstage is established based on its distribution of the moment of inertia and the safe working space of the robots is calculated. By analyzing the point of application and direction of the magnetic force, an optimized de-tumbling trajectory for the robot is presented to minimize the de-tumbling time by reducing the targets’ angular momentum. At last, a simulation is processed to verify the optimized de-tumbling method.

KW - Eddy current brake

KW - Large debris capture

KW - On-orbit

KW - Space robot

KW - Tumbling target

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U2 - 10.1007/978-3-319-65298-6_57

DO - 10.1007/978-3-319-65298-6_57

M3 - Conference contribution

AN - SCOPUS:85028307336

SN - 9783319652979

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 637

EP - 649

BT - Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings

A2 - Liu, Honghai

A2 - Huang, YongAn

A2 - Wu, Hao

A2 - Yin, Zhouping

PB - Springer Verlag

T2 - 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017

Y2 - 16 August 2017 through 18 August 2017

ER -

Liu J, Du B, Huang Q. Space robotic de-tumbling of large target with eddy current brake in hand. In Liu H, Huang Y, Wu H, Yin Z, editors, Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings. Springer Verlag. 2017. p. 637-649. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-65298-6_57

Space robotic de-tumbling of large target with eddy current brake in hand

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Keywords

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