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第1页共32页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第1页共32页毕业设计外文资料翻译题目空间机械手的跟踪捕捉操作学院机械工程学院专业机械工程及自动化班级机自0917班学生廉开发学号20090421170指导教师苏东宁第2页共32页第1页共32页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第2页共32页二〇一三年四月一日第3页共32页第2页共32页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第3页共32页\TrackingTrajectoryPlanningofSpaceManipulatorforCapturingOperationPanfengHuang1;YangshengXu2andBinLiang3CollegeofAstronautics,NorthwesternPolytechnicalUniversity,China2DepartmentofAutomationandComputer-AidedEngineerging,TheChineseUniversityofHongKong,HongKongShenzhenSpaceTechnologyCenter,HarbinInstuteofTechnology,Chinapfhuang@nwpu.edu.cn\\Abstract:On-orbitrescuinguncontrolledspinningsatellite(USS)usingspacerobotisagreatchallengeforfuturespaceservice.Thispapermainlypresentatrajectoryplanningmethodofspacemanipulatorthatcantrack,approachandcatchtheUSSinfree-floatingsituation.AccordingtothemotioncharacteristicsofUSS,weplanaspiralascendingtrajectoryforspacemanipulatortoapproachtowardsUSSinCartesianspace.However,itisdifficulttomapthistrajectoryintothejointspaceandrealizefeasiblemotioninjointspacebecauseofdynamicssingularitiesanddynamicscoupleofspacerobotsystem.Therefore,weutilizeintervalalgorithmtohandlethesedifficulties.Thesimulationstudyverifiesthatthespiralascendingtrajectorycanbeenrealized.Moreover,themotionofmanipulatorissmoothandstable,thedisturbancetothebaseissolimitedthattheattitudecontrolcancompensateit.Keywords:Spacemanipulator,trackingtrajectoryplanning,intervalalgorithms,polynominalsplinefunctionIntroductionThispaperdealswithaspecialproblemoftrackitrjectoryplanningofspacemanipulatoforcapturingtheuncontrolledspinningsatellites.On-orbitcapturingisachallengeworkforspacerobotsysteminthefuturespaceservice.Thespacerobotsciencehasgottenbigprogressinthepastdecade.Therefore,on-orbitserviceforuncontrolledsatellitewillbeamainapplicationofspacerobotinorderreducethespacecostinthefuture.Whenhumanbeinglaunchedthefirstspacerobotandoperatedittoaccomplishthespacemission,spacerobotbegantobeutilizedindifferentspacetasks.NowadaysspacerobotsareaidingtoconstructandmaintaintheInternationalSpaceStatioandservicingthspacetelescope.Thereforespacerobotic第4页共32页第3页共32页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第4页共32页servicingforsatellitsuchrescue,repairrefuellingandmaintenance,promisetoextendsatellitelifeandreducecostsmakesitoneofthemostattractiveareasofdevelopingtechnology.Spacerobotsarelikelytoplaymoreandmoreimportantrolesinsatelliteservicingmissionandspaceconstructionmissioninthefuture.Theapproachancaptureoperationmustbesolvedfirstlyinordertoaccomplishallthesemissions.Awellknownspacerobot,theShuttleRemoteManipulatorSystem(SRMSor`Canadarm'')[D.ZimpferandP.Spehar,1996]wasoperatedtoassistcaptureandberththesatellitefromtheshuttlebytheastronaut.NASAmissionsSTS-61,STS-82,andSTS-103repairedtheHubbleJapandemonstratedthespacemanipulatortocaptureacooperativesatellitewhoseattitudeisstabilizedduringthedemonstrationviatele-operationfromthegroundcontrolstation[Kawano,I.,etal.1998],[NoriyasuInaba,etal,2000].Allmentiabovespacerobotictechnologiesdemonstratetheusefulnessofspacerobotforspaceservicing.Howevertheiruseislimitedtocapturethesatellitesthatarecooperativea...