Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout
Chinese space station has been in construction phase, and it will be launched around 2020. Lots of orbital replacement units (ORUs) are installed on the space station, and they need to be replaced on orbit by a manipulator. In view of above application requirements, the control method for ORU change...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/4271035 |
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| author | Bingshan Hu Feng Chen Liangliang Han Huanlong Chen Hongliu Yu |
| author_facet | Bingshan Hu Feng Chen Liangliang Han Huanlong Chen Hongliu Yu |
| author_sort | Bingshan Hu |
| collection | DOAJ |
| description | Chinese space station has been in construction phase, and it will be launched around 2020. Lots of orbital replacement units (ORUs) are installed on the space station, and they need to be replaced on orbit by a manipulator. In view of above application requirements, the control method for ORU changeout is designed and verified in this paper. Based on the analysis of the ORU changeout task flow, requirements of space station manipulator’s control algorithms are presented. The open loop path planning algorithm, close loop path planning algorithm based on visual feedback, and impedance control algorithm are researched. To verify the ORU changeout task flow and corresponding control algorithms, a ground experiment platform is designed, which includes a 6-DOF manipulator with a camera and a force/torque sensor, an end effector with clamp/release and screwing function, ORU module, and ORU store. At last, the task flow and control algorithms are verified on the test platform. Through the research, it is found that the ORU changeout task flow designed in this paper is reasonable and feasible, and the control method can be used to control a manipulator to complete the ORU changeout task. |
| format | Article |
| id | doaj-art-221cd7a6512e469988b4887eed5b00c4 |
| institution | OA Journals |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-221cd7a6512e469988b4887eed5b00c42025-08-20T02:04:07ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742018-01-01201810.1155/2018/42710354271035Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit ChangeoutBingshan Hu0Feng Chen1Liangliang Han2Huanlong Chen3Hongliu Yu4University of Shanghai for Science and Technology, Shanghai 200093, ChinaShanghai Institute of Aerospace Systems Engineering, Shanghai 201109, ChinaShanghai Institute of Aerospace Systems Engineering, Shanghai 201109, ChinaShanghai Institute of Aerospace Systems Engineering, Shanghai 201109, ChinaUniversity of Shanghai for Science and Technology, Shanghai 200093, ChinaChinese space station has been in construction phase, and it will be launched around 2020. Lots of orbital replacement units (ORUs) are installed on the space station, and they need to be replaced on orbit by a manipulator. In view of above application requirements, the control method for ORU changeout is designed and verified in this paper. Based on the analysis of the ORU changeout task flow, requirements of space station manipulator’s control algorithms are presented. The open loop path planning algorithm, close loop path planning algorithm based on visual feedback, and impedance control algorithm are researched. To verify the ORU changeout task flow and corresponding control algorithms, a ground experiment platform is designed, which includes a 6-DOF manipulator with a camera and a force/torque sensor, an end effector with clamp/release and screwing function, ORU module, and ORU store. At last, the task flow and control algorithms are verified on the test platform. Through the research, it is found that the ORU changeout task flow designed in this paper is reasonable and feasible, and the control method can be used to control a manipulator to complete the ORU changeout task.http://dx.doi.org/10.1155/2018/4271035 |
| spellingShingle | Bingshan Hu Feng Chen Liangliang Han Huanlong Chen Hongliu Yu Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout International Journal of Aerospace Engineering |
| title | Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout |
| title_full | Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout |
| title_fullStr | Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout |
| title_full_unstemmed | Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout |
| title_short | Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout |
| title_sort | design and ground verification of space station manipulator control method for orbital replacement unit changeout |
| url | http://dx.doi.org/10.1155/2018/4271035 |
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