Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes | Zendy

Shengxin Sun | Zendy; Cheng Wei | Zendy; Zhuoran Huang | Zendy; Hao Wu | Zendy; Haibo Zhang | Zendy; Jianchun Lu | Zendy; Yan Yi Du | Zendy

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Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes

Author(s) -

Shengxin Sun,

Cheng Wei,

Zhuoran Huang,

Hao Wu,

Haibo Zhang,

Jianchun Lu,

Yan Yi Du

Publication year - 2021

Publication title -

international journal of aerospace engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.361

H-Index - 22

eISSN - 1687-5974

pISSN - 1687-5966

DOI - 10.1155/2021/6196556

Subject(s) - brush , control theory (sociology) , robustness (evolution) , robotic arm , mechanism (biology) , robot , simulation , computer science , engineering , control (management) , artificial intelligence , physics , mechanical engineering , chemistry , quantum mechanics , gene , biochemistry

A flexible brush mechanism is designed and mounted at the end of a seven-degree-of-freedom robotic arm to despin a tumbling target. The dynamics model of the flexible brush is established using the absolute nodal coordinate method (ANCF), and its contact collision with the solar wing of the tumbling target is analysed. The H ∞ optimal control is proposed for a seven-degree-of-freedom robotic arm during despinning of a tumbling target while ensuring the global robustness and stability. Simulations verify that the despinning strategy can successfully eliminate the rotation speed and is feasible and effective.

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