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首页> 外文期刊>Aerotecnica missili & spazio >Performance Analysis and Gains Tuning Procedure for a Controlled Space Manipulator Used for Non-cooperative Target Capture Operations
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Performance Analysis and Gains Tuning Procedure for a Controlled Space Manipulator Used for Non-cooperative Target Capture Operations

机译：用于非合作目标捕获操作的受控空间操纵器的性能分析和增益调整过程

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摘要

In the near future robotic systems will be playing an increasingly important role in space applications such as repairing, refuelling, re-orbiting spacecraft and cleaning up the increasing amount of space debris. Space Manipulator Systems (SMSs) are robotic systems made of a bus (which has its own actuators such as thrusters and reaction wheels) equipped with one or more deployable arms. The present paper focuses on the issue of maintaining a stable first contact between the arms terminal parts (i.e. the end-effectors) and a non-cooperative target satellite, before the actual grasp is accomplished. The selected approach is a modified version of the Impedance Control algorithm, in which the end-effector is commanded in order to make it behave like a mass-spring-damper system regardless of the reaction motion of the base, so to absorb the impact energy. A very important aspect in the analysis of the control performance is the evaluation of the field of applicability of the controller itself. In the present work the influence of this issue on the effectiveness of the proposed control architecture will be analysed, together with the control gains tuning which allows for a robust achievement of the mission requirements. Several numerical results will be presented and discussed.
机译：在不久的将来，机器人系统将在太空应用中扮演越来越重要的角色，例如维修，加油，对航天器进行重新轨道飞行以及清理越来越多的太空碎片。太空操纵器系统（SMS）是由总线（具有自己的执行器，如推进器和反作用轮）构成的机器人系统，该总线配有一个或多个可展开的臂。本文着重于在实际掌握之前在武器终端部分（即末端执行器）和不合作的目标卫星之间保持稳定的第一次接触的问题。选择的方法是阻抗控制算法的改进版本，其中命令末端执行器以使其表现得像质量弹簧-阻尼器系统，而与基座的反应运动无关，从而吸收冲击能量。在分析控制性能时，一个非常重要的方面是评估控制器本身的适用范围。在当前的工作中，将分析此问题对所提出的控制体系结构的有效性的影响，以及将控制增益调整到一起，以稳定实现任务要求的过程。几个数值结果将被介绍和讨论。

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  • 来源
    《Aerotecnica missili & spazio》 |2018年第1期|3-12|共10页
  • 作者

    A. Stolfi; P. Gasbarri; M. Sabatini;

  • 作者单位

    Sapienza - Università di Roma Dipartimento di Ingegneria Meccanica e Aerospaziale;

    "Sapienza" - Università di Roma Dipartimento di Ingegneria Meccanica e Aerospaziale;

    "Sapienza" - Università di Roma Dipartimento di Ingegneria Elettrica, Energetica e Astronautica;

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