近似モデルに基づく宇宙浮遊物体の捕捉制御手法

抄録

Tumbling motion makes it difficult to retrieve a satellite with an on-board manipulator. This paper proposes a new control scheme of a space manipulator based on an approximate model for the dynamics of a tumbling satellite. The proposed model is described as a superposition of three rotational motions of constant angular velocities. Kalman filtering technique is adopted to estimate the target motion based on visual information. The parameters of the approximate model are calculated from kinematical constraints using estimated results. Thus, the capture planning becomes simple with the approximate model parameters. The motion of a grapple fixture along a particular principal axis of a target satellite nearly stops relative to the end-effector of a manipulator. In the control scheme, the rendezvous satellite and the manipulator make rotational motions of certain constant angular velocities based on the approximate model. The validity and the usefulness of the proposed scheme are verified by computer simulations and experiments using a 3-D hardware simulator with 9 degrees of freedom.