NDLI: Unified multi-domain modelling and simulation of space robot for capturing a moving target

Content Provider	Springer Nature Link
Author	Xu, Wenfu Liu, Yu Liang, Bin Wang, Xueqian Xu, Yangsheng
Copyright Year	2009
Abstract	Space robotic systems are expected to play an increasingly important role in the future on-orbit service. The applications include repairing, refueling or de-orbiting of a satellite, or removal of the space debris. The dynamical performances of space robotic system result from the multi-physics interactions between mechanical, electrical, electronic, control, etc. In this paper, we developed a unified multi-domain modelling and simulation system. The system is composed of the following modules: the path planner, joint controllers, motor and its driver, gearing mechanism of the space manipulators, the Guidance, Navigation, and Control (GNC) system, the actuators of the base, and the orbital environment, orbital dynamic and the multi-body dynamic of the whole system, etc. Based on this system, 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 (position and attitude) measurement, GNC of the base, path planning and control of the space manipulator, and so on, can be validated using the system. As examples, the capturing processes of a moving target under free-floating and attitude-controlled modes are simulated and the simulation results are given.
Starting Page	293
Ending Page	331
Page Count	39
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	23
Issue Number	3
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2009-12-02
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Automotive Engineering Mechanical Engineering Electrical Engineering Optimization Vibration, Dynamical Systems, Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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