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

Multibody System Dynamics

Volumn 23, Issue 3, 2010, Pages 293-331

  Xu, Wenfu ^a   Liu, Yu ^a   Liang, Bin ^a   Wang, Xueqian ^a   Xu, Yangsheng ^b  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

^b CHINESE UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Autonomous capturing; Modelling and simulation; Multi domain modelling; Path planning; Space robot

Indexed keywords

CLOSE RANGE; DE-ORBITING; DYNAMICAL PERFORMANCE; FINAL APPROACH; GUIDANCE , NAVIGATION , AND CONTROLS; MODELLING AND SIMULATIONS; MOVING TARGETS; MULTI DOMAINS; MULTI-BODY DYNAMIC; MULTI-PHYSICS; ON-ORBIT; ORBITAL DYNAMICS; ORBITAL ENVIRONMENTS; PATH PLANNERS; PATH PLANNING AND CONTROL; PATH-PLANNING; SIMULATION RESULT; SPACE MANIPULATORS; SPACE ROBOTIC SYSTEMS; SPACE ROBOTS; SUBPHASES; TARGET CAPTURING; WHOLE SYSTEMS;

DYNAMICS; MACHINERY; MANIPULATORS; MOTION PLANNING; PLANNING; ROBOT PROGRAMMING; ROBOTICS; ROBOTS; SPACE DEBRIS; SPACECRAFT EQUIPMENT; TARGETS;

SPACE RENDEZVOUS;

EID: 77952546871     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11044-009-9184-0     Document Type: Article

References (17)

1. Hirzinger, G., Landzettel, K., Brunner, B., et al.: DLR's robotics technologies for on-orbit servicing. Adv. Robotics 18(2), 139-174 (2004)
2. Yoshida, K.: Engineering test satellite VII flight experiments for space robot dynamics and control: theories on laboratory test beds ten years ago, now in orbit. Int. J. Robotics Res. 22(5), 321-335 (2003)
3. Liang, B., Li, C., Xue, L.J., et al.: A Chinese small intelligent space robotic system for on-orbit servicing. In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 4603-4607 (2006)
4. Abramovici, A.: The special purpose dexterous manipulator (SPDM) systems engineering effort. J. Reducing Space Mission Cost 1, 177-200 (1998)
5. Wilson, J.R.: Satellite hopes ride on orbital express. Aerosp. Am. 45(2), 30-35 (2007)
6. Stoll, E., Walter, U., Artigas, J., et al.: Ground verification of the feasibility of telepresent on-orbit servicing. J. Field Robotics 26(3), 287-307 (2009)
7. Rekleitis, I., Martin, E., Rouleau, G., et al.: Autonomous capture of a tumbling satellite. Special issue on space robotics. J. Field Robotics 24(4), 275-296 (2007)
8. Umetani, Y., Yoshida, K.: Resolved motion rate control of space manipulators with generalized Jacobian matrix. IEEE Trans. Robotics Autom. 5(3), 303-314 (1989)
9. Umetani, Y., Yoshida, K.: Workspace and manipulability analysis of space manipulator. Trans. Soc. Instrum. Control Eng. E-1(1), 116-123 (2001)
10. Agrawal, S.K., Chen, M.Y., Annapragada, M., et al.: Modelling and simulation of assembly in a freefloating work environment by a free-floating robot. Trans. ASME J.Mech. Des. 118(1), 115-120 (1996)
11. Papadopoulous, E., Evangelos, S.,Moosavian, A., et al.: Dynamics and control of multi-arm space robots during chase and capture operations. In: Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 1554-1561 (1994)
12. Nagamatsu, H., Kubota, T., Nakatani, I., et al.: Autonomous retrieval of a tumbling satellite based on predictive trajectory. In: Proc. International Conference on Robotics and Automation, Albuquerque, New Mexico, pp. 3074-3079 (1997)
13. McCourt, R.A., de Silva, C.W.: Autonomous robotic capture of a satellite using constrained predictive control. IEEE/ASME Trans. Mechatronics 11(6), 699-708 (2006)
14. Xu, W.F., Liu, Y., Liang, B., et al.: Autonomous path planning and experiment study of free-floating space robot for target capturing. J. Intell. Robotic Syst. 51(3), 303-331 (2008)
15. Xu, W.F., Liang, B., Li, C., et al.: Autonomous target capturing of free-floating space robot: theory and experiments. Robotica 27, 425-445 (2008)
16. Xu,W.F., Liang, B., Xu, Y.S., et al.: A ground experiment system of free-floating space robot for capturing space target. J. Intell. Robotic Syst. 48(2), 187-208 (2007)
17. Li, Y., Lin, Z., Wang, H., et al.: An automated modelling approach for dynamic performance evaluation of mechatronic multibody systems. Math. Comput. Model. Dyn. Syst. 13(6), 545-572 (2007)