TY - GEN
T1 - Design and Control of a Free-Floating Robot for Ground Microgravity Experiment
AU - Lin, Yong
AU - Shan, Minghe
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - In this paper, a cube shaped free-floating robot that is composed of air-bearing, high-pressure gas tank, pressure reducing valve, solenoid valve, and nozzle is designed for ground microgravity experiment of on-orbit servicing missions. The attitude of the robot is controlled by a reaction wheel and the position of the robot is controlled by eight nozzles symmetrically distributed around itself. Their thrust is calibrated using the ballistic pendulum method and verified by a pressure sensor. To be able to control the robot accurately, the moment of inertia and the position of the mass center of the robot are obtained by experiments. To control the robot tracking an arbitrary trajectory, a trajectory planning method based on quintic polynomial curve interpolation and the hysteresis control law are applied in this paper. Simulation and experimental results show that the designed free-floating robot can achieve high precision using the presented trajectory planning method and control strategy.
AB - In this paper, a cube shaped free-floating robot that is composed of air-bearing, high-pressure gas tank, pressure reducing valve, solenoid valve, and nozzle is designed for ground microgravity experiment of on-orbit servicing missions. The attitude of the robot is controlled by a reaction wheel and the position of the robot is controlled by eight nozzles symmetrically distributed around itself. Their thrust is calibrated using the ballistic pendulum method and verified by a pressure sensor. To be able to control the robot accurately, the moment of inertia and the position of the mass center of the robot are obtained by experiments. To control the robot tracking an arbitrary trajectory, a trajectory planning method based on quintic polynomial curve interpolation and the hysteresis control law are applied in this paper. Simulation and experimental results show that the designed free-floating robot can achieve high precision using the presented trajectory planning method and control strategy.
KW - Control
KW - Free-floating robot
KW - Ground microgravity experiment
KW - Trajectory planning
UR - https://www.scopus.com/pages/publications/85197347441
U2 - 10.1007/978-981-99-8048-2_275
DO - 10.1007/978-981-99-8048-2_275
M3 - Conference contribution
AN - SCOPUS:85197347441
SN - 9789819980475
T3 - Lecture Notes in Mechanical Engineering
SP - 3943
EP - 3962
BT - Proceedings of the 2nd International Conference on Mechanical System Dynamics - ICMSD 2023
A2 - Rui, Xiaoting
A2 - Liu, Caishan
PB - Springer Science and Business Media Deutschland GmbH
T2 - 2nd International Conference of Mechanical System Dynamics, ICMSD 2023
Y2 - 1 September 2023 through 5 September 2023
ER -