论文标题
使用基于前向动力学的笛卡尔运动模拟轨道上的相互作用
Emulating On-Orbit Interactions Using Forward Dynamics Based Cartesian Motion
论文作者
论文摘要
诸如维修和组装之类的轨道运营被认为是未来太空行业的优先事项。模拟轨交互的地面设施是开发和测试空间技术的关键工具。本文提出了一个控制框架，以使用地面机器人操纵器模拟轨道操作。它结合了基于Clohessy Wiltshire（CW）模型的轨道动力学模拟器（ODS），将机器人操纵器（ODS）的笛卡尔运动控制组合使用虚拟前向动力学模型（VFDM）。众所周知，基于VFDM的逆运动学（IK）求解器比传统的IK求解器具有更好的运动跟踪，路径准确性和求解器的收敛性。因此，即使是在单数或近乎奇异的配置下，它也为基于轨道仿真的操纵器提供了稳定的笛卡尔运动。通过模拟两种情况：自由浮动的卫星运动和自由浮动相互作用（Collision），通过模拟SNT的Zerog-Lab机器人设施进行了测试。结果表明，ODS命令的模拟运动与机器人安装的样机执行的动作之间的保真度。
On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools for developing and testing space technology. This paper presents a control framework to emulate on-orbit operations using on-ground robotic manipulators. It combines Virtual Forward Dynamics Models (VFDM) for Cartesian motion control of robotic manipulators with an Orbital Dynamics Simulator (ODS) based on the Clohessy Wiltshire (CW) Model. The VFDM-based Inverse Kinematics (IK) solver is known to have better motion tracking, path accuracy, and solver convergency than traditional IK solvers. Thus, it provides a stable Cartesian motion for manipulators based on orbit emulations, even at singular or near singular configurations. The framework is tested at the ZeroG-Lab robotic facility of the SnT by emulating two scenarios: free-floating satellite motion and free-floating interaction (collision). Results show fidelity between the simulated motion commanded by the ODS and the one executed by the robot-mounted mockups.
