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Impact dynamics analysis of free-floating space manipulator capturing satellite on orbit and robust adaptive compound control algorithm design for suppressing motion

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Abstract

The impact dynamics, impact effect, and post-impact unstable motion suppression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the second Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the capture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.

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Abbreviations

B 0 :

free-floating base

B i :

link of manipulator (i = 1, 2)

B 3 :

target satellite

O 0 :

centre of free-floating base

O i :

joint centre (i = 1, 2)

O-XY :

inertial coordinate

O i -X i Y i :

local coordinate of B i (i = 0, 1, 2)

C m :

centre of target satellite

P :

end-effector of space manipulator

P′:

handle on satellite surface which impact with end-effector of manipulator

l 0 :

distance between O 0 and O 1

l i :

length of link B i (i = 1, 2)

l 3 :

distance between C m and P′

m i :

mass of B i (i = 0, 1, 2, 3)

J i :

center inertial momentum of B i (i=0, 1, 2, 3)

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, P. R. China

    Qiu-huang Dong  (董楸煌) & Li Chen  (陈 力)

Authors
  1. Qiu-huang Dong  (董楸煌)
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  2. Li Chen  (陈 力)
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Corresponding author

Correspondence to Qiu-huang Dong  (董楸煌).

Additional information

Project supported by the National Natural Science Foundation of China (Nos. 11072061 and 11372073) and the Natural Science Foundation of Fujian Province (No. 2010J01003)

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Dong, Qh., Chen, L. Impact dynamics analysis of free-floating space manipulator capturing satellite on orbit and robust adaptive compound control algorithm design for suppressing motion. Appl. Math. Mech.-Engl. Ed. 35, 413–422 (2014). https://doi.org/10.1007/s10483-014-1801-7

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  • DOI: https://doi.org/10.1007/s10483-014-1801-7

Key words

Chinese Library Classification

2010 Mathematics Subject Classification

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