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Study on unified multi-domain modeling of space robot for target capturing

机译：统一多域建模的统一多域建模，以实现目标捕获

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The dynamical performances of space robotic system result from the multi-physics interactions between mechanical, electrical, electronic, control, et al. In this paper, we developed a unified multi-domain modeling and simulation platform. The platform is composed of the following modules: the mechanism of the multi-body system; the path planner, the joint axis (including electrical motor and its drive circuit) of the space manipulator; the GNC (guidance, navigation and control) system, and the actuators used for the attitude and orbit control. Based on this platform, the operation during different stages, including far range rendezvous, close range rendezvous (is usually divided into two sub-phases: closing and final approach) and target capturing can be studied from the view of multi-physics domains. The key algorithms, such as pose measurement, GNC of the base, path planning and control of the space manipulator, and so on, can be validated using the system. As an example, the capturing process of a moving target is simulated and the simulation results are given.
机译：空间机器人系统的动态性能由机械，电气，电子，控制等的多物理相互作用产生。在本文中，我们开发了一个统一的多域建模和仿真平台。该平台由以下模块组成：多体系的机制;路径策划器，空间机械手的接合轴（包括电动机及其驱动电路）; GNC（指导，导航和控制）系统，以及用于姿态和轨道控制的执行器。基于该平台，在不同阶段的操作，包括远方的Rendezvous，近距离集合（通常分为两个子阶段：关闭和最终方法）和目标捕获可以从多物理域的视图中研究。可以使用系统验证，可以通过系统验证关键算法，例如姿势测量，基础，路径规划和控制等空间机械手等，等等。作为示例，模拟了移动目标的捕获过程，并给出了模拟结果。

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