کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
11012175 1800958 2018 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Postcapture stabilization of space robots considering actuator failures with bounded torques
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Postcapture stabilization of space robots considering actuator failures with bounded torques
چکیده انگلیسی
Space robotics is regarded as one of the most impressing approaches for space debris removal missions. Due to the residual momentum of debris, it is essential to stabilize the base rapidly after capture. This paper presents a novel control strategy for stabilization of a space robot in postcapture considering actuator failures and bounded torques. In the control strategy, the motion of the manipulator is not regarded as a disturbance to the base; in contrast, it is utilized to compensate for the limitation of the control torques by means of an inverse dynamical model of the system. Different scenarios where actuators are external mechanisms or momentum exchange devices have been carried out, and for actuator failures, both single- and two-actuator failures have been considered. Regarding to the performance of actuators, control torques are bounded. In cases that either single or two actuators have failed, the base can be stabilized kinematically when actuators are external mechanisms, but can only be stabilized dynamically when only momentum exchange devices are used. Finally, a space robot with a seven-degree-of-freedom manipulator in postcapture is studied to verify the validity and feasibility of the proposed control scheme. Simulation results show that the whole system can be stabilized rapidly.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Chinese Journal of Aeronautics - Volume 31, Issue 10, October 2018, Pages 2034-2048
نویسندگان
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