›› 2014, Vol. 34 ›› Issue (2): 13-21.doi: 10.3780/j.issn.1000-758X.2014.02.002

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TrajectoryTrackingControlofaReactionlessSpaceRobot

 ZHAO  Nan, JIA  Ying-Hong, XU  Shi-Jie   

  1. (SchoolofAstronautics,BeihangUniversity,Beijing100191)
  • Received:2013-08-26 Revised:2013-10-25 Online:2014-04-25 Published:2014-04-25

Abstract: Anewreactionlessspacerobotdesignconceptwasputforwardtoovercometheshortcomingsofthecurrentdrivetypes.Controlmomentgyros(CMGs)weremountedoneachpartmechanicalarmandsystemplatformasmovementactuators.Mechanicalarmswereconnectedwithsphericalhinges.PlatformattitudeandangulardisplacementweremeasuredbytheRodriguesparameters(RPs).BasedonsystemdynamicsmodelbuiltwithKanemethod,agraduallystabletrajectorytrackingcontrollawwasdesignedtotracktheplatformattitudeand mechanicalarmangulardisplacement,andaCMGssteeringlawwasdesignedtooutputexactexpectedcontroltorque.Moreover,thedesigned controllawscanbefurtherextendedtotrackandcontroltheworkspacetrajectorybystudyingthetrajectoryplanningalgorithms betweenthemechanicalarmsworkspaceandjointsspace.Thesimulationresultsfromthethreejointssystemshaveverifiedthefeasibility ofdesignandeffectivenessoftheproposedtrajectoryalgorithms.

Key words: Sphericalhinge, Controlmomentgyros, Robotarm, Trajectorytracking, Spacerobot