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学术讲座:Control of a SpaceRobot for Capturing a Tumbling Object with Uncertainties

发布时间:2014-05-20 22:50  点击:40688次

应空间机器人技术教育部重点实验室邀请,美国新墨西哥州立大学(New Mexico State University)Ou Ma教授将为广大师生作一场题为《Controlof a Space Robot for Capturing a Tumbling Object with Uncertainties》的学术报告。

讲座题目:Control of a SpaceRobot for Capturing a Tumbling Object with Uncertainties

主讲人:Ou Ma教授——美国新墨西哥州立大学NewMexico State University

主持人:贾庆轩教授(自动化学院副院长)

时间:2014年5月22日(周四)下午3:30--4:30

地点:教三311

讲座内容: Capturing a tumbling object in orbitsuch as an out-of-control satellite or a piece of orbital junk is a verychallenging task for a satellite on-orbit service mission or a space-debriscleanup mission. The enabling technology is still far from practically readyright now. This study introduces an optimal control strategy for a space robotto capture a free-tumbling object under the condition of having minimal impactto the base satellite during the capturing operation. The idea is to firstpredict a target time, location and speed of the tumbling object for the robotto intercept with such that, when the robot hand physically touches the object,it will transfer a minimal angular impulse to the base satellite. Then, anoptimal motion trajectory and the corresponding joint torques will be generatedto control the robot to reach the object at the targeted time and location.Joint rate and torque limits will be taken into account in the optimal controlsolution. Since the control acts before a physical contact happens, it will notaffect any existing compliance control capability of the space robot regardingboth implementation and operation. Therefore, the proposed method can co-existwith an existing compliance control method in the robot control system.Numerical simulation examples are presented to demonstrate the effectiveness ofthe proposed method.

主讲人简介:OuMa教授是航空航天领域机器人动力学与控制学、冲击与碰撞动力学方面的知名专家。Ou Ma教授曾获美国新墨西哥州立大学机械工程协会杰出教授、MDA空间计划技术发明奖、MD机器人技术发明奖等殊荣。

   

  该讲座为前沿讲座,欢迎全校师生踊跃参加。

 

 

校学术委员会

自动化学院

空间机器人技术教育部重点实验室

2014年5月21日