Grasping and Stabilizing Tumbling Objects with Rotating-Base Multi-Arm Space Manipulators
Grasping and Stabilizing Tumbling Objects with Rotating-Base Multi-Arm Space Manipulators
This paper presents a guidance and control method for space manipulators that actively maneuvers its base to hold a tumbling object stationary relative to the base during proximity operations. The approach involves two phases: in the pre-grasping phase, synchronization control aligns the target's center of mass with the system's instantaneous center of rotation to virtually rigidize the target-servicer system; in the post-grasping phase, a control strategy based on Hamiltonian dynamics and optimal control stabilizes the combined system while minimizing time, fuel, or energy and respecting base torque limits. A case study demonstrates the method's effectiveness for both grasping and detumbling phases.
The paper proposes a control method for space manipulators to stabilize tumbling objects by synchronizing the target's center of mass with the system's instantaneous center of rotation, followed by Hamiltonian-based optimal control for stabilization.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org