Research on satellite attitude stabilization motion control algorithm for redundant multi manipulator free floating space robot capturing non-cooperative target

Huazhong Li; Zhou Liao; Peng Fan; Xiaosheng Chen

doi:10.1117/12.3050043

11 December 2024 Research on satellite attitude stabilization motion control algorithm for redundant multi manipulator free floating space robot capturing non-cooperative target

Huazhong Li, Zhou Liao, Peng Fan, Xiaosheng Chen

Author Affiliations +

Proceedings Volume 13441, International Conference on Cloud Computing and Communication Engineering (CCCE 2024); 134410I (2024) https://doi.org/10.1117/12.3050043
Event: International Conference on Cloud Computing and Communication Engineering (CCCE 2024), 2024, Nanjing, China

Abstract

In response to the satellite attitude (SA) stability problem faced by the RMMFFSR in capturing NCT, firstly, the forward kinematics (FK) equation of RMAFFSM based on RMMGJM was established. Secondly, RMAFFSM decompose motion speed control (DMSC) method based on RMMGJM was proposed, and DMSC algorithms for RMAFFSM multi arm coordinated motion(CM) to stabilize SA and RMAFFSM multi joint CM to stabilize SA were designed. Finally, an RMAFFSM SA control system (MSACS) and a SA controlled DMSC algorithm were designed. The RMAFFSM multi arm planning system was combined with the MSACS to propose an RMAFFSM SA motion control (MC) algorithm based on attitude Interference Prediction (IP) and an RMAFFSM autonomous coordinated MC algorithm for stabilizing SA.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Huazhong Li, Zhou Liao, Peng Fan, and Xiaosheng Chen "Research on satellite attitude stabilization motion control algorithm for redundant multi manipulator free floating space robot capturing non-cooperative target", Proc. SPIE 13441, International Conference on Cloud Computing and Communication Engineering (CCCE 2024), 134410I (11 December 2024); https://doi.org/10.1117/12.3050043

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