论文标题
轨迹优化和跟随三个自由度的浮动平台
Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform
论文作者
论文摘要
空间机器人的应用程序（例如Active Space碎片删除（ASDR））在启动之前需要代表性测试。在太空中模仿微重力环境的一种常用方法是基于空气的平台，例如欧洲航天局的轨道机器人技术和GNC Lab（ORGL）。这项工作为ORGL的浮动平台提供了控制架构，配备了八个基于螺线管 - 阀门的推进器和一个反应轮。控制体系结构由两个主要组成部分组成：一个轨迹规划师，该轨迹策划者找到了连接两个状态的最佳轨迹和一个遵循任何物理可行轨迹的轨迹追随者。首先在引入的模拟中评估控制器，在查找和遵循轨迹的轨迹方面达到了100％的成功率。单个轨迹也成功地是物理系统。在这项工作中，我们展示了控制器拒绝干扰并遵循数十厘米内的直线轨迹的能力。
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors, such as the European Space Agency's Orbital Robotics and GNC Lab (ORGL). This work proposes a control architecture for a floating platform at the ORGL, equipped with eight solenoid-valve-based thrusters and one reaction wheel. The control architecture consists of two main components: a trajectory planner that finds optimal trajectories connecting two states and a trajectory follower that follows any physically feasible trajectory. The controller is first evaluated within an introduced simulation, achieving a 100 % success rate at finding and following trajectories to the origin within a Monte-Carlo test. Individual trajectories are also successfully followed by the physical system. In this work, we showcase the ability of the controller to reject disturbances and follow a straight-line trajectory within tens of centimeters.
