Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target
Author
Source
International Journal of Aerospace Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-07-20
Country of Publication
Egypt
No. of Pages
13
Abstract EN
Dynamics modeling and control problem of a two-link manipulator mounted on a spacecraft (so-called carrier) freely flying around a space target on earth’s circular orbit is studied in the paper.
The influence of the carrier’s relative movement on its manipulator is considered in dynamics modeling; nevertheless, that of the manipulator on its carrier is neglected with the assumption that the mass and inertia moment of the manipulator is far less than that of the carrier.
Meanwhile, we suppose that the attitude control system of the carrier guarantees its side on which the manipulator is mounted points accurately always the space target during approaching operation.
The ideal constraint forces can be out of consideration in dynamics modeling as Kane method is used.
The path functions of the manipulator’s end-effector approaching the space target as well as the manipulator’s joints control torque functions are programmed to meet the soft touch requirement that the end-effector’s relative velocity to the space target is zero at touch moment.
Numerical simulation validation is conducted finally.
American Psychological Association (APA)
Han, Yanhua. 2016. Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target. International Journal of Aerospace Engineering،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1105022
Modern Language Association (MLA)
Han, Yanhua. Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target. International Journal of Aerospace Engineering No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1105022
American Medical Association (AMA)
Han, Yanhua. Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target. International Journal of Aerospace Engineering. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1105022
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1105022