軌道上サービス作業における宇宙ロボットの階層型制御アーキテクチャ
A Hierarchical Control Architecture for Space Robots in On-Orbit Servicing Operations
宇宙ロボットが回転する非協力対象を自律捕獲するための階層型制御フレームワークを提案し、スロッシング動力学を含むシミュレーションで従来手法より高いロバスト性を示した。
著者: Pietro Bruschi
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in space. A simulation environment is developed, incorporating sloshing dynamics of the chaser, a rarely studied effect in space robotics. The proposed controller combines an inner Lyapunov-based robust control loop for multi-body dynamics with an outer loop addressing an extended inverse kinematics problem. Simulation results show improved robustness and adaptability compared to existing control schemes.