Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout
Joint Authors
Yu, Hongliu
Hu, Bingshan
Chen, Feng
Han, Liangliang
Chen, Huanlong
Source
International Journal of Aerospace Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-09-16
Country of Publication
Egypt
No. of Pages
18
Abstract EN
Chinese space station has been in construction phase, and it will be launched around 2020.
Lots of orbital replacement units (ORUs) are installed on the space station, and they need to be replaced on orbit by a manipulator.
In view of above application requirements, the control method for ORU changeout is designed and verified in this paper.
Based on the analysis of the ORU changeout task flow, requirements of space station manipulator’s control algorithms are presented.
The open loop path planning algorithm, close loop path planning algorithm based on visual feedback, and impedance control algorithm are researched.
To verify the ORU changeout task flow and corresponding control algorithms, a ground experiment platform is designed, which includes a 6-DOF manipulator with a camera and a force/torque sensor, an end effector with clamp/release and screwing function, ORU module, and ORU store.
At last, the task flow and control algorithms are verified on the test platform.
Through the research, it is found that the ORU changeout task flow designed in this paper is reasonable and feasible, and the control method can be used to control a manipulator to complete the ORU changeout task.
American Psychological Association (APA)
Hu, Bingshan& Chen, Feng& Han, Liangliang& Chen, Huanlong& Yu, Hongliu. 2018. Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout. International Journal of Aerospace Engineering،Vol. 2018, no. 2018, pp.1-18.
https://search.emarefa.net/detail/BIM-1167202
Modern Language Association (MLA)
Hu, Bingshan…[et al.]. Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout. International Journal of Aerospace Engineering No. 2018 (2018), pp.1-18.
https://search.emarefa.net/detail/BIM-1167202
American Medical Association (AMA)
Hu, Bingshan& Chen, Feng& Han, Liangliang& Chen, Huanlong& Yu, Hongliu. Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout. International Journal of Aerospace Engineering. 2018. Vol. 2018, no. 2018, pp.1-18.
https://search.emarefa.net/detail/BIM-1167202
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1167202