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research-article

Minimum Base Attitude Disturbance Planning for a Space Robot during Target Capture

[+] Author and Article Information
Jingchen Hu

School of Aerospace Engineering, Tsinghua University, Beijing, 100084, China
hjc20090918@163.com

Tianshu Wang

School of Aerospace Engineering, Tsinghua University, Beijing, 100084, China
tswang@tsinghua.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4040435 History: Received July 08, 2017; Revised May 20, 2018

Abstract

This paper presents a method to minimize the base attitude disturbance of a space robot during target capture. First, a general dynamic model of a free-floating space robot capturing a target is established using Spatial Operators, and a simple analytical formula for the base angular velocity change during the impact phase is obtained. Compared with former models proposed in the literature, this model has a simpler form, a wider range of applications and O(n) computation complexity. Second, based on the orthogonal projection matrix lemma, we propose the Generalized Mass Jacobian Matrix and find that the base angular velocity change during the impact phase is a constant times the orthogonal projection of the impact impulse on the column space of the Generalized Mass Jacobian Matrix. Finally, a new concept, of the Base Attitude Disturbance Ellipsoid, is proposed to express the relationship between the base attitude disturbance and the impact direction. The impact direction satisfying the minimum base attitude disturbance can be straightforwardly obtained from the Base Attitude Disturbance Ellipsoid. In particular, for a planar space robot, we draw the useful conclusion that the impact direction unchanged base attitude must exist. Furthermore, the average axial length of the Base Attitude Disturbance Ellipsoid is used as a measurement to illustrate the average base attitude disturbance under impact impulses from different directions. With this measurement, the desired pre-impact configuration with minimum average base attitude disturbance can be easily determined.

Copyright (c) 2018 by ASME
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