In this paper, it is considered a number of tasks that are pertained to control by free-flying space manipulation robot (SR) at the process of large space structures in-orbit assembly. It was introduced SR mathematical model with taking into account of the system's discrete character and using of self-braked drives of the manipulator. It is considered the problem of the SR's reconfiguration with the next recovery of the initial orientation that is necessary for a passage to the regime of payload transportation to the assembly place. The notion of SR configuration “cover” is formulated. Using this notion some conditions of SR safe moving near to a surface of the assembled construction are defined. Alternative approach to the SR control in the mode of handling functioning is suggested. This approach does not require the procedure of a gripper path planning. Efficiency of suggested approach is illustrated at computer simulation of an example.
Free-flying manipulation robot using for in-orbit assembly of large space structures
01.06.2011
671587 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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