Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout

Chinese space station has been in construction phase, and it will be launched around 2020. Lots of orbital replacement units (ORUs) are installed on the space station, and they need to be replaced on orbit by a manipulator. In view of above application requirements, the control method for ORU change...

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Bibliographic Details
Published in:International journal of aerospace engineering 2018-01, Vol.2018 (2018), p.1-18
Main Authors: Chen, Huanlong, Han, Liangliang, Chen, Feng, Hu, Bingshan, Yu, Hongliu
Format: Article
Language:English
Subjects:
Aerospace engineering
Algorithms
Automation
Cameras
Control algorithms
Control theory
End effectors
Experiments
Ground based control
Intelligence
International conferences
Manipulators
Orbit replaceable units (ORU)
Path planning
Robot arms
Robotics
Robots
Screwing
Space stations
Torquemeters
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Summary:Chinese space station has been in construction phase, and it will be launched around 2020. Lots of orbital replacement units (ORUs) are installed on the space station, and they need to be replaced on orbit by a manipulator. In view of above application requirements, the control method for ORU changeout is designed and verified in this paper. Based on the analysis of the ORU changeout task flow, requirements of space station manipulator’s control algorithms are presented. The open loop path planning algorithm, close loop path planning algorithm based on visual feedback, and impedance control algorithm are researched. To verify the ORU changeout task flow and corresponding control algorithms, a ground experiment platform is designed, which includes a 6-DOF manipulator with a camera and a force/torque sensor, an end effector with clamp/release and screwing function, ORU module, and ORU store. At last, the task flow and control algorithms are verified on the test platform. Through the research, it is found that the ORU changeout task flow designed in this paper is reasonable and feasible, and the control method can be used to control a manipulator to complete the ORU changeout task.
ISSN:1687-5966
1687-5974
DOI:10.1155/2018/4271035