Research On Path Planning And Compliant Control For The Docking With Uncoopeative Target

The docking technology with uncooperative target refers to the docking withspacecrafts which have no responsive sensors and special docking mechanisms. Thisdocking technology can clean the space trash which are floating in space and captureor destroy the enemy’s military satellites. So its development has high civil value andmilitary significance. However, the national research on this technology lags behinddeveloped countries, such as USA and some Europe countries. Therefore, it has aimperious demand to speeding up the research on the docking technology withuncooperative target which has great value. This thesis takes the free flying spacemanipulator system as the research object, which has the advantage of low energyconsumption, and researches on the docking technology that is used in the task ofcapturing uncooperative target. The main research contents are as follows: design ofthe space manipulator’s best impact configuration, the path planning of spacemanipulator system and the compliant control of the space manipulator system.Based on the velocity analysis of the free flying space manipulator system, thisthesis deduces the system’s kinematical equation. And it builds the dynamical modelby using Lagrange equation. The generalized Jacobian matrix is obtained on the basisof system’s momentum analysis. All of the above work has made good theoreticalpreparations for the research of the best impact configuration and path planning.This thesis also studies on the space manipulator’s best impact configuration intask of capturing uncooperative targets. It deduces the distinguishing rule of the bestimpact configuration, analyzes the change of the angular momentums of the systemand its constituent parts respectively and achieves the best impact configuration ofthe6-joint free flying space manipulator system, which can control the angularmomentum’s change effectively.The path planning of the space manipulator system is carried out, which includespoint-to-point path planning and continuous path planning. The continuous pathplanning consists of continuous position and pose tracing planning and continuoustracing planning with no disturbance on the system base. This thesis focuses on theplanning of continuous position and pose tracing without disturbance on the base andachieves that the base pose has no influence in the process of path planning, thesystem can reach the desired position and the best impact configuration can be keptsimultaneously.On the basis of the conventional impedance control, this thesis deduces thenoncontact impedance control method and make it apply to the space manipulatorsystem. The noncontact impedance control method builds the end’s desiredimpedance model and virtual impedance model and realize the control of the impact force which happens in the capturing uncooperative target. Because the impact valueis influenced by the impedance parameters of the impedance model, the thesis alsoconducts the simulation of the effect of the impedance parameters on impact controlperformance and concludes the impedance parameters’ preliminary coordinationprinciples.