宇宙用マニピュレータを用いた衛星捕捉制御

抄録

This paper describes a practical control scheme for autonomous retrieval of tumbling satellite with an onboard manipulator using a CCD camera. In the retrieval of a satellite, a reference trajectory for positioning the end-effector of manipulator is generated with time delay because of processing time for target motion estimator and manipulator controller. Consequently, the end-effector fails to capture the target, and the control system shows poor performance. To solve this problem, a control system is proposed, which utilizes predictive trajectory based on target satellite dynamics. The validity and the usefulness of the proposed control scheme are verified by computer simulations and experiments using 3-D hardware simulator with 9 degrees of freedom.