Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes
A flexible brush mechanism is designed and mounted at the end of a seven-degree-of-freedom robotic arm to despin a tumbling target. The dynamics model of the flexible brush is established using the absolute nodal coordinate method (ANCF), and its contact collision with the solar wing of the tumbling...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/6196556 |
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| _version_ | 1832545986269937664 |
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| author | Shengxin Sun Cheng Wei Zhuoran Huang Hao Wu Haibo Zhang Jianchun Lu Yan Du |
| author_facet | Shengxin Sun Cheng Wei Zhuoran Huang Hao Wu Haibo Zhang Jianchun Lu Yan Du |
| author_sort | Shengxin Sun |
| collection | DOAJ |
| description | A flexible brush mechanism is designed and mounted at the end of a seven-degree-of-freedom robotic arm to despin a tumbling target. The dynamics model of the flexible brush is established using the absolute nodal coordinate method (ANCF), and its contact collision with the solar wing of the tumbling target is analysed. The H∞ optimal control is proposed for a seven-degree-of-freedom robotic arm during despinning of a tumbling target while ensuring the global robustness and stability. Simulations verify that the despinning strategy can successfully eliminate the rotation speed and is feasible and effective. |
| format | Article |
| id | doaj-art-552f6b73d52041049662ed267fdaae7a |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-552f6b73d52041049662ed267fdaae7a2025-02-03T07:24:12ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742021-01-01202110.1155/2021/61965566196556Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible BrushesShengxin Sun0Cheng Wei1Zhuoran Huang2Hao Wu3Haibo Zhang4Jianchun Lu5Yan Du6Harbin Institute of Technology, Harbin 150001, ChinaHarbin Institute of Technology, Harbin 150001, ChinaHarbin Institute of Technology, Harbin 150001, ChinaKUKA Robotics Guangdong Co., Ltd., Foshan 528311, ChinaBeijing Institute of Control Engineering, Beijing 100190, ChinaChina Academy of Space Technology, Beijing 100000, ChinaInformation Engineering University, Zhengzhou 450001, ChinaA flexible brush mechanism is designed and mounted at the end of a seven-degree-of-freedom robotic arm to despin a tumbling target. The dynamics model of the flexible brush is established using the absolute nodal coordinate method (ANCF), and its contact collision with the solar wing of the tumbling target is analysed. The H∞ optimal control is proposed for a seven-degree-of-freedom robotic arm during despinning of a tumbling target while ensuring the global robustness and stability. Simulations verify that the despinning strategy can successfully eliminate the rotation speed and is feasible and effective.http://dx.doi.org/10.1155/2021/6196556 |
| spellingShingle | Shengxin Sun Cheng Wei Zhuoran Huang Hao Wu Haibo Zhang Jianchun Lu Yan Du Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes International Journal of Aerospace Engineering |
| title | Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes |
| title_full | Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes |
| title_fullStr | Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes |
| title_full_unstemmed | Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes |
| title_short | Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes |
| title_sort | adaptive control of space robot despinning tumbling target using flexible brushes |
| url | http://dx.doi.org/10.1155/2021/6196556 |
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