Dynamics and cooperative control of a space robot team after capturing a common target
- Paper number
IAC-13,B6,P,5.p1,x20000
- Author
Dr. Yongsheng Xu, China Academy of Space Technology (CAST), China
- Coauthor
Dr. Xueqian WANG, China Academy of Space Technology (CAST), China
- Coauthor
Prof. Bin LIANG, China Academy of Space Technology (CAST), China
- Coauthor
Prof. ZHANG YINGCHUN, China
- Year
2013
- Abstract
Space robot teams are wonderful on-orbit servicing systems for transporting and assembling large space structures such as solar power stations. In this paper, the modeling and cooperative control method for a space robot team holding a common target are studied. First, the complex system dynamics is described in the recursive formulation. Then, the cooperative control approach to the interaction forces between robots and the target is presented. In the end, the validity of the proposed methodology is demonstrated by the computer simulation.
- Abstract document
- Manuscript document
IAC-13,B6,P,5.p1,x20000.pdf (🔒 authorized access only).
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