{"title":"系留空间机器人位置姿态协调控制方法","authors":"Xiudong Xu, Panfeng Huang, Jun Ma","doi":"10.1109/ROBIO.2013.6739683","DOIUrl":null,"url":null,"abstract":"Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position control force of the operational robot. Then the optimization and distribution model of position control force is established, and the LQR control force is distributed to space tether and thrusters. Simultaneously, the relative attitude of the operational robot is stabilized using corresponding coordinated attitude stability strategy through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance for approaching the target.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Coordinated position and attitude control method of Tethered Space Robot\",\"authors\":\"Xiudong Xu, Panfeng Huang, Jun Ma\",\"doi\":\"10.1109/ROBIO.2013.6739683\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position control force of the operational robot. Then the optimization and distribution model of position control force is established, and the LQR control force is distributed to space tether and thrusters. Simultaneously, the relative attitude of the operational robot is stabilized using corresponding coordinated attitude stability strategy through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance for approaching the target.\",\"PeriodicalId\":434960,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2013.6739683\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739683","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Coordinated position and attitude control method of Tethered Space Robot
Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position control force of the operational robot. Then the optimization and distribution model of position control force is established, and the LQR control force is distributed to space tether and thrusters. Simultaneously, the relative attitude of the operational robot is stabilized using corresponding coordinated attitude stability strategy through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance for approaching the target.