Virgili-Llop Josep, Romano Marcello
Spacecraft Robotics Laboratory, Mechanical and Aerospace Engineering Department, Naval Postgraduate School, Monterey, CA, United States.
Front Robot AI. 2019 Mar 27;6:14. doi: 10.3389/frobt.2019.00014. eCollection 2019.
A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material.
提出了一种使用配备机器人操纵器的追逐航天器捕获并消除轨道空间物体角动量的策略。在所提出的策略中，捕获和消除角动量目标被整合到一组统一的终端约束中。末端执行器位置和速度的终端约束确保成功捕获，追逐器动量的终端约束确保捕获后追逐器 - 目标系统的角动量为零。在捕获后，实现平稳、无冲击抓取所需的操纵器运动逐渐停止，平衡所有物体的动量，将两个飞行器刚性连接，并在无需进一步驱动的情况下完成新形成的追逐器 - 目标系统的消旋。为了引导这种策略，采用了一种基于优化的方法，该方法强制执行捕获和消旋终端约束，避免碰撞，并满足驱动限制。通过求解一系列凸规划问题获得引导问题的解决方案，使得所提出的引导方法适用于机载实施和实时使用。通过数值模拟和硬件在回路实验对这种同时捕获和消旋策略进行了评估。数值模拟和实验演示策略的视频作为补充材料包含在内。
