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Space Robotic De-Tumbling of Large Target with Eddy Current Brake in Hand

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10464))

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Abstract

Space debris has increased with recent launch missions greatly. Former active debris removal tests using space robot mainly focused on the fundamental technology of target recognition, motion control and path planning. However, robot contacts directly with the surface of targets with large mass and angular momentum will cause severe collision problems. A target de-tumbling strategy is proposed in this paper by using two manipulators. Each arm is equipped with magnetic coil, which can generate eddy current in conductive targets and gradually de-tumble rotation without contact. The three-dimension rotation model of a discarded satellite and upstage is established based on its distribution of the moment of inertia and the safe working space of the robots is calculated. By analyzing the point of application and direction of the magnetic force, an optimized de-tumbling trajectory for the robot is presented to minimize the de-tumbling time by reducing the targets’ angular momentum. At last, a simulation is processed to verify the optimized de-tumbling method.

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Acknowledgment

Thanks for the support of the research work by China Academy of Launch Vehicle Technology (CASC). The authors would like to acknowledge the support of the team members for their outstanding contributions to the paper.

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Authors and Affiliations

  1. School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China

    Jiayu Liu & Qiang Huang

  2. Beijing Institute of Precise Mechatronics and Controls (the 18th Institute), China Academy of Launch Vehicle Technology (CALT), 1 Nandahongmenlu, Fengtai, Beijing, China

    Jiayu Liu & Baosen Du

Authors
  1. Jiayu Liu
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  2. Baosen Du
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  3. Qiang Huang
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Corresponding author

Correspondence to Jiayu Liu .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Liu, J., Du, B., Huang, Q. (2017). Space Robotic De-Tumbling of Large Target with Eddy Current Brake in Hand. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_57

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  • DOI: https://doi.org/10.1007/978-3-319-65298-6_57

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65297-9

  • Online ISBN: 978-3-319-65298-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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