A coordinated planning and control method of space robot for capturing moving target

DOI10.3724/SP.J.1004.2009.01216MaRDI QIDQ3572267zbMATH OpenOpenAlexFDO

Authors Wenfu Xu, Cheng Li, Bin Liang, Yu Liu, Wenyi Qiang

Publication date 8 July 2010

Published in Acta Automatica Sinica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.3724/sp.j.1004.2009.01216

zbMATH Keywords

path planningspace robotcoordinated controltarget capturingon-orbit servicing

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

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(6)

• Optimal guidance and control for space robot operation
• Modeling and planning of a space robot for capturing tumbling target by approaching the dynamic closest point
• Predictive motion control for autonomous capture of a tumbling target with a space manipulator
• Trajectory planning and coordination control of a space robot for detumbling a flexible tumbling target in post-capture phase
• Optimal trajectory planning for a space robot docking with a moving target via homotopy algorithms
• Determination of workspace and required initial position of free-flying space manipulator at target capture

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