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首页> 外文期刊>Journal of Spacecraft and Rockets >Autonomous Release of a Snagged Solar Array: Technologies and Laboratory Demonstration
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Autonomous Release of a Snagged Solar Array: Technologies and Laboratory Demonstration

机译：自主释放的太阳能电池阵列：技术和实验室演示

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摘要

This paper describes a novel concept of operations, payload hardware, terminal navigation strategy, and localized vision scheme for autonomous release of a snagged solar array using a robotic servicing spacecraft. The hardware suite on the servicer consists of two robot arms, end effector cameras, a scanning laser sensor, two local fixed lasers, an end effector fiducial tool, and various active light sources for long-range and localized target illumination. The concept of operations consists of a terminal approach phase, a servicer preparation phase, and an array release phase. The scanning laser sensor is used throughout all phases to determine target pose, whereas the end effector cameras are used during the approach phase for variable baseline stereo ranging and during the release phase for localized scene imaging and arm guidance. Realistic full-scale laboratory tests in a six-degree-of-freedom relative navigation and control testbed demonstrate the complex integration and interaction of close-range autonomous relative navigation, cooperative dual-arm robotics, and localized machine vision necessary to perform such a task.
机译：本文介绍了一种新颖的操作概念，有效载荷硬件，终端导航策略以及使用机器人维修航天器自主释放被困太阳能电池阵列的局部视觉方案。服务商上的硬件套件包括两个机械臂，一个末端执行器摄像机，一个扫描激光传感器，两个本地固定激光器，一个末端执行器基准工具以及用于远程和局部目标照明的各种有源光源。操作的概念包括终端进场阶段，服务人员准备阶段和阵列释放阶段。在所有阶段都使用扫描激光传感器来确定目标姿势，而在进场阶段使用末端执行器相机进行可变的基准立体声测距，在释放阶段使用末端执行器相机进行局部场景成像和手臂引导。在六自由度相对导航和控制测试床上进行的实际全面实验室测试证明了执行此任务所需的近距离自主相对导航，协作双臂机器人和局部机器视觉的复杂集成和交互。

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