Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes
A flexible brush mechanism is designed and mounted at the end of a seven-degree-of-freedom robotic arm to despin a tumbling target. The dynamics model of the flexible brush is established using the absolute nodal coordinate method (ANCF), and its contact collision with the solar wing of the tumbling...
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| Veröffentlicht in: | International Journal of Aerospace Engineering 2021-09, Vol.2021, p.1-9, Article 6196556 |
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| creator | Sun, Shengxin Wei, Cheng Huang, Zhuoran Wu, Hao Zhang, Haibo Lu, Jianchun Du, Yan |
| description | A flexible brush mechanism is designed and mounted at the end of a seven-degree-of-freedom robotic arm to despin a tumbling target. The dynamics model of the flexible brush is established using the absolute nodal coordinate method (ANCF), and its contact collision with the solar wing of the tumbling target is analysed. The H∞ optimal control is proposed for a seven-degree-of-freedom robotic arm during despinning of a tumbling target while ensuring the global robustness and stability. Simulations verify that the despinning strategy can successfully eliminate the rotation speed and is feasible and effective. |
| doi_str_mv | 10.1155/2021/6196556 |
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The dynamics model of the flexible brush is established using the absolute nodal coordinate method (ANCF), and its contact collision with the solar wing of the tumbling target is analysed. The H∞ optimal control is proposed for a seven-degree-of-freedom robotic arm during despinning of a tumbling target while ensuring the global robustness and stability. Simulations verify that the despinning strategy can successfully eliminate the rotation speed and is feasible and effective.</description><identifier>ISSN: 1687-5966</identifier><identifier>EISSN: 1687-5974</identifier><identifier>DOI: 10.1155/2021/6196556</identifier><language>eng</language><publisher>LONDON: Hindawi</publisher><subject>Adaptive control ; Aerospace engineering ; Analysis ; Closed loop systems ; Controllers ; Degrees of freedom ; Design ; Energy ; Engineering ; Engineering, Aerospace ; H-infinity control ; Neural networks ; Optimal control ; Robot arms ; Robot control ; Robotics ; Robots ; Science & Technology ; Space robots ; Spin reduction ; Technology ; Tumbling ; Velocity</subject><ispartof>International Journal of Aerospace Engineering, 2021-09, Vol.2021, p.1-9, Article 6196556</ispartof><rights>Copyright © 2021 Shengxin Sun et al.</rights><rights>COPYRIGHT 2021 John Wiley & Sons, Inc.</rights><rights>Copyright © 2021 Shengxin Sun et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 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The dynamics model of the flexible brush is established using the absolute nodal coordinate method (ANCF), and its contact collision with the solar wing of the tumbling target is analysed. The H∞ optimal control is proposed for a seven-degree-of-freedom robotic arm during despinning of a tumbling target while ensuring the global robustness and stability. 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| subjects | Adaptive control Aerospace engineering Analysis Closed loop systems Controllers Degrees of freedom Design Energy Engineering Engineering, Aerospace H-infinity control Neural networks Optimal control Robot arms Robot control Robotics Robots Science & Technology Space robots Spin reduction Technology Tumbling Velocity |
| title | Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes |
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