CN106055901B - A kind of opportunity of free-floating space robot capture Tum bling Target determines method - Google Patents
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Abstract
The opportunity that Tum bling Target is captured the invention discloses a kind of free-floating space robot determines method, including establishes the equation of motion of Tum bling Target；Analyze the working space of free-floating space robot；Propose three criterion for determining and most preferably arresting opportunity；Finally with the validity of case verification method proposed by the present invention.Three criterion on determining opportunity proposed by the present invention, which consider, avoids mechanical arm from being collided with Tum bling Target, make end effector that there is better operating flexibility and operational capacity, and quickly complete capture, be beneficial to future space robot security, it is reliable, capture Tum bling Target task is performed quickly.
Description
【Technical field】
The invention belongs to robot for space technical field, it is related to a kind of free-floating space robot capture Tum bling Target
Opportunity determines method.
【Background technology】
Robot for space occupies an important position in On-orbit servicing technical system, and use space robot can be complete
At the in-orbit assembling of Large Spacecraft, module replacing is carried out to satellite in orbit, fuel re-injection, improves its in-orbit service longevity
Life etc., while the cleaning to inert satellite, space junk can be completed with use space robot.However, in-orbit at present
In the robot for space project of verification, the object of robot for space service is all cooperative target, and space really it is in-orbit need by
The space junk that the spacecraft and needs of service are cleaned all is noncooperative target, and ground monitoring shows these non-cooperative targets
Mark mostly has tumbling motion, right although existing robot for space technology can serve cooperative target well
The robot for space technology that non-cooperation, particularly Tum bling Target are repaired and serviced need further to develop.
Existing method is mostly directed to situation of the robot for space capture around single principal axis of inertia rolling target, it is expected that capturing
Process does not generate disturbance to the satellite pedestal of Space Robot System.Target has the situation of rotation more around three principal axis of inertia
Complexity, the movement of this kind of target is similar with the movement of gyro, and there are the precession of instantaneous axis, thus arresting thereon can the period
It appears in the working space of robot for space to property, but appears in the different location of working space every time, at present not
Have research consider arrest point which time appear in working space when it is implemented to arrest it is proper.On the other hand, space
The working space of robot is limited, and the different location mounted on the actuator of mechanical arm tail end in working space has difference
Operating flexibility and operational capacity.The working space of free-floating space robot be often divided into path related work space and
The unrelated working space in path is asked because end effector will not encounter dynamic singularity in the unrelated working space movement in path
Topic, so there is better operating flexibility and operational capacity in the space.Analytic method, geometric method and numerical value can be passed through at present
Method three classes method determines the unrelated working space size in the path of free-floating space robot, however, existing research is mostly only
It rests in the analysis to working space, there is no be used to the property of robot for space working space.Obviously, if
It is implemented to arrest when arresting in the unrelated working space in path for a little appear in robot for space, end effector is in capture process
It is middle to have better operating flexibility and operational capacity, it is more advantageous to completion and arrests.Thus, comprehensive analysis of the present invention is around three axis
Rotate the working space of the kinetic property and free-floating space robot of Tum bling Target, it is proposed that free-floating space robot
The opportunity of capture Tum bling Target determines criterion, forms a kind of opportunity determination of free-floating space robot capture Tum bling Target
Method.
【Invention content】
It is an object of the invention to be directed to future space robot actively to clear up failure spacecraft service and space junk
Task, propose that a kind of opportunity of free-floating space robot capture Tum bling Target determines method, for improving capture task
Reliability.
In order to achieve the above objectives, the present invention is achieved by the following scheme：
A kind of opportunity of free-floating space robot capture Tum bling Target determines method, includes the following steps：
Step 1: establishing the equation of motion of Tum bling Target；
Tum bling Target model simplification is rectangular rigid body, coordinate system oxtytztTo be defined on the body coordinate system in target,
In, if o is target centroid, each reference axis is overlapped with by the principal axis of inertia of barycenter；The principal moments that rigid body is defined around each axis is distinguished
It is Ix,Iy,Iz；Assuming that initial time body coordinate system and inertial coodinate system overlap, subsequent rigid body is rotated with angular velocity omega,
The component of three axial directions of body coordinate system is denoted as ω respectivelyx,ωy,ωz；Assuming that target in space not by any external force, then its appearance
State kinetics equation is expressed as：
Using the posture changing matrix of quaternion representation rigid body, obtain body coordinate system to inertial coodinate system posture changing
Matrix A (q) is as shown in formula (2)：
Wherein,To indicate that the unit quaternion of posture, first three parameter represent Euler's shaft
Direction, the 4th parameter represent the size of Euler's corner, and the component of angular speed is full under quaternary number each element and body coordinate system
Attitude kinematics equations shown in sufficient formula (3)：
It is denoted as assuming that only uniquely arresting the position vector a little arrested a little under body coordinate system on capture targetThen
Under inertial coodinate system, the position vector arrested a little is expressed as：
Wherein, inv is indicated to matrix inversion；
The inertial parameter of target, initial angular velocity are obtained by discrimination method and arrest position a little under target this system
Coordinate is set, in conjunction with equation (1)~(4), provides and arrests a little movement locus in inertial space；
Step 2: calculating the working space of free-floating space robot；
Under satellite base body coordinate system, shown in the kinematical equation such as formula (5) of free-floating space robot：
Wherein,ove,oωeThe respectively linear velocity and angular speed of end effector,oJgFor refined gram of the broad sense of robot for space
Than matrix, subscript " o " indicates the expression under base body coordinate system；Equation shown in solution formula (6), obtains homographyoJg
The unusual arm type of unusual free-floating space robot：
det[oJg]=0 (6)
One group of hypersurface Q under the solution corresponding joint of mechanical arm space of equation (6)s,i(i=1,2 ...), these hypersurfaces
For dynamic singularity arm type corresponding joint corner qsSet；Using the virtual machine arm model of free-floating space robot,
Under the model, the position vector of mechanical arm tail end is expressed as：
Wherein, rgFor the position vector of system barycenter,IACWithCAiRespectively system geocentric coordinate system is to inertial system and connecting rod
Body coordinate system to system geocentric coordinate system transformation matrix,WithReferred to as virtual link vector；
The distance of system barycenter to mechanical arm tail end is expressed as：
Symbol " | | | | " indicate that vectorial length, formula (8) define the ball for R (q) using system barycenter as the centre of sphere, radius
Face；Every group of joint rotation angle q for keeping Jacobian matrix unusualsIt is mapped to the spherical surface that inertial space all correspondings (8) define, based on same
The considerations of sample, each hypersurface Qs,iBeing mapped to inertial space will be corresponding using system barycenter as the centre of sphere, be defined by following two radiuses
Ball：
Remember Wi={ R (q):Rmin,i≤R(q)≤Rmax,i, then hypersurface Qs,iIt is mapped to inertial space and corresponds to set Wi；Such as
The solution of fruit equation (6) corresponds to multiple hypersurfaces, then inertial space has corresponding multiple set W1,W2,...,Wi..., it freely floats
The path related work definition space of floating robot for space isSymbol " ∪ " expression takes collection
The union of conjunction, the unrelated working space in path is by WPIW=Wreach/WPDWIt is calculated, WreachThe reachable work of representation space robot
Make space, symbol " A/B " indicates the difference set of set A and B；
Step 3: determining the best opportunity of capture Tum bling Target；
Three criterion of setting are used to determine the best opportunity of robot for space capture Tum bling Target；
Criterion 1：Selection is along capture direction, when it is a little the nearest point of metric space robot system on Tum bling Target to arrest
It is arrested；Tum bling Target model simplification is rectangular rigid body, and one vertex A representative of cuboid is arrested a little, other vertex B, C, D
Three adjacent seamed edges of the rectangular body Model of Tum bling Target are formed with point A respectively；Assuming that robot for space is square along inertial system x-axis
Tum bling Target is captured to positioned at the front of target, and along inertial system x-axis direction, it is determined that captures first criterion statement on opportunity
For：
AndAnd
Wherein,The coordinate in the directions x under inertial system point A, B, C, D on Tum bling Target is indicated respectively；
Criterion 2：The unrelated working space in path for being a little located at robot for space is arrested when capture, and symbol W is used in step 2PIW
Indicate the path unrelated working space of free-floating space robot, if will arrest a little to Space Robot System barycenter away from
From being denoted as rdis, it is determined that second criterion for arresting opportunity is expressed as：
rdis∈WPIW
Criterion 3：When Tum bling Target moves, the position arrested a little may repeatedly meet criterion 1 and criterion 2,1 He of selection criterion
As most preferably opportunity is arrested at the time of 2 first time of criterion meets, the minimal reaction time t of robot for space is setreact, and think
Only when being more than the time on determining opportunity, robot for space is likely to complete the capture to target；Accordingly, it is determined that unique
Most preferably arrest opportunity：
In t >=treactUnder the premise of, meet the nearest moment of criterion 1 and criterion 2.
Compared with prior art, the invention has the advantages that：
The opportunity of free-floating space robot capture Tum bling Target of the present invention determines method, including establishes Tum bling Target
The equation of motion；Analyze the working space of free-floating space robot；Propose three standards for determining and most preferably arresting opportunity
Then；Finally with the validity of case verification method proposed by the present invention.Three criterion on determining opportunity proposed by the present invention are examined
Consider and mechanical arm is avoided to be collided with Tum bling Target, has made end effector that there is better operating flexibility and operational capacity, and
Quickly complete capture, be beneficial to future space robot security, it is reliable, capture Tum bling Target task is performed quickly.
【Description of the drawings】
Fig. 1 is to arrest a movement locus schematic diagram；
Fig. 2 is the corresponding ball radius distribution figure of free-floating space robot working space；
Fig. 3 is capture opportunity schematic diagram.
【Specific implementation mode】
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1-Fig. 3, opportunity of free-floating space robot of the present invention capture Tum bling Target determines method, including with
Lower step：
Step 1: establishing the equation of motion of Tum bling Target.
Tum bling Target model simplification is rectangular rigid body, coordinate system oxtytztTo be defined on the body coordinate system in target,
In, if o is target centroid, each reference axis is overlapped with by the principal axis of inertia of barycenter.The principal moments that rigid body is defined around each axis is distinguished
It is Ix,Iy,Iz.Assuming that initial time body coordinate system and inertial coodinate system overlap, subsequent rigid body is rotated with angular velocity omega,
The component of three axial directions of body coordinate system is denoted as ω respectivelyx,ωy,ωz.Assuming that target in space not by any external force, then its appearance
State kinetics equation can be expressed as：
Using the posture changing matrix of quaternion representation rigid body, can obtain body coordinate system to inertial coodinate system posture
Transformation matrix A (q) is as shown in formula (2)：
Wherein,To indicate that the unit quaternion of posture, first three parameter represent Euler's shaft
Direction, the 4th parameter represent the size of Euler's corner, and the component of angular speed is full under quaternary number each element and body coordinate system
Attitude kinematics equations shown in sufficient formula (3)：
It is denoted as assuming that only uniquely arresting the position vector a little arrested a little under body coordinate system on capture targetThen
Under inertial coodinate system, the position vector arrested a little can be expressed as：
Wherein, inv is indicated to matrix inversion.
It obtains the inertial parameter of target, initial angular velocity by the methods of recognizing and arrests a little under target this system
Position coordinates can provide in conjunction with equation (1)~(4) and arrest a little movement locus in inertial space.
Step 2: calculating the working space of free-floating space robot.
Under satellite base body coordinate system, shown in the kinematical equation such as formula (5) of free-floating space robot：
Wherein,ove,oωeThe respectively linear velocity and angular speed of end effector,oJgFor refined gram of the broad sense of robot for space
Than matrix, subscript " o " indicates the expression under base body coordinate system.According to matrixoJgIt is whether unusual, free floating space machine
The working space of device people is divided into the unrelated working space in path and path related work space, in the related work space of path,
It is related that can end effector reach the track that certain point is passed by with it, and in the unrelated working space in path, in the space
Arbitrary point can be reached via free routing, and unrelated with the track that end effector is passed by.Obviously, end effector is in path
There is better operating flexibility and operational capacity in unrelated working space.Because of matrixoJgIt is each rigid with joint of mechanical arm rotational angle theta
Weight miWith inertia IiIt is related, while only joint rotation angle θ is variation, solves equation shown in formula (6), obtains corresponding square
Battle array oJgThe unusual arm type of unusual free-floating space robot：
det[oJg]=0 (6)
One group of hypersurface Q under the solution corresponding joint of mechanical arm space of equation (6)s,i(i=1,2 ...), these hypersurfaces
For dynamic singularity arm type corresponding joint corner qsSet.Using the virtual machine arm model of free-floating space robot,
Under the model, the position vector of mechanical arm tail end is expressed as：
Wherein, rgFor the position vector of system barycenter,IAC,CAiRespectively system geocentric coordinate system is to inertial system and connecting rod sheet
Body coordinate system to system geocentric coordinate system transformation matrix,Referred to as " virtual link vector ".
The distance of system barycenter to mechanical arm tail end can be expressed as：
Symbol " | | | | " indicate that vectorial length, formula (8) define the ball for R (q) using system barycenter as the centre of sphere, radius
Face.Every group of joint rotation angle q for keeping Jacobian matrix unusualsIt is mapped to the spherical surface that inertial space all correspondings (8) define, based on same
The considerations of sample, each hypersurface Qs,iBeing mapped to inertial space will be corresponding using system barycenter as the centre of sphere, be defined by following two radiuses
Ball：
Remember Wi={ R (q):Rmin,i≤R(q)≤Rmax,i, then hypersurface Qs,iIt is mapped to inertial space and corresponds to set Wi.Such as
The solution of fruit equation (6) corresponds to multiple hypersurfaces, then inertial space has corresponding multiple set W1,W2,...,Wi..., it freely floats
The path related work definition space of floating robot for space isSymbol " ∪ " expression takes set
Union, the unrelated working space in path is by WPIW=Wreach/WPDWIt is calculated, WreachThe reachable work of representation space robot
Space, symbol " A/B " indicate the difference set of set A and B.
By being analyzed above it is found that if implementing to arrest to it arresting the when of being a little located in the unrelated working space in path, end
Actuator has better operating flexibility, and the calculating of the unrelated working space in path depends on solution formula (6) and finds machine
The unusual arm type of tool arm.The method that all possible joint rotation angle combination is traversed with smaller step-length (such as 1 °) is used in the present invention,
Preservation meets the mechanical arm configuration of formula (6).
Step 3: determining the best opportunity of capture Tum bling Target.
There is the movement of the Tum bling Target of rotation similar with the movement of gyro around three principal axis of inertia, arresting a little can be with the period
It appears in the working space of robot for space to property, but appears in different positions every time, thus robot for space is caught
The opportunity for obtaining Tum bling Target is not unique, but each opportunity corresponds to different contact conditions.The present invention proposes following three standards
Then it is used to determine the best opportunity of robot for space capture Tum bling Target.
To avoid mechanical arm in acquisition procedure from colliding with target, selection is a little rolling mesh when arresting along capture direction
It is arrested when putting on the nearest point of metric space robot system.Tum bling Target model simplification is rectangular rigid body, cuboid one
A vertex A representative is arrested a little, other vertex B, C, D formed respectively with point A three of the rectangular body Model of Tum bling Target it is adjacent
Seamed edge.Assuming that robot for space is located at the front of target along inertial system positive direction of the x-axis, and captures and roll along inertial system x-axis direction
Target, it is determined that capturing first criterion on opportunity can be expressed as：
Criterion 1：AndAndWherein,Point A, B, C, D on Tum bling Target are indicated respectively
The coordinate in the directions x under inertial system.
In addition, arresting the unrelated working space in path that should be a little located at robot for space when capture so that end effector
With better operating flexibility.Symbol W is used in step 2PIWIndicate that the unrelated work in the path of free-floating space robot is empty
Between, if being a little denoted as r to the distance of Space Robot System barycenter by arrestingdis, it is determined that arrest second criterion table on opportunity
State for：
Criterion 2：rdis∈WPIW
When Tum bling Target moves, the position arrested a little may repeatedly meet criterion 1 and 2, in order to which capture is rapidly completed, it should
It is used as at the time of selection criterion 1 and 2 first times meet and most preferably arrests opportunity, while in view of the executive capability of robot for space has
Limit needs the minimal reaction time t for setting robot for spacereact, it is believed that only when being more than the time on determining opportunity, space
Robot is likely to complete the capture to target.Therefore, it is determined according to following criterion 3 and uniquely most preferably arrests opportunity：
Criterion 3：In t >=treactUnder the premise of, meet the nearest moment of criterion 1 and 2
Determine that robot for space captures the best opportunity of Tum bling Target according to above-mentioned three provided criterion, in conjunction with step 1
The characteristics of motion of the Tum bling Target of analysis can provide the motion state arrested and arrested constantly a little.
Embodiment：
Tum bling Target is captured as example using band three-freedom mechanical arm robot for space, illustrates opportunity determination side in the present invention
The validity of method.The rotary inertia of Tum bling Target is：
Under body coordinate system, the position vector arrested a little isAssuming that initial time, the rotation of target
Speed is respectively [- 4-2-4] deg/sec in the component of three axial directions of body coordinate system, according to the equation in step 1, is passed through
5000s (is approximately equal to the Low Earth Orbit period), and arresting movement locus a little in inertial space, (track is in y-z as shown in Figure 1
Projection in plane).
Table 1 gives the kinematics and kinetic parameter of robot for space, according to the calculating process that step 2 describes, obtains
The corresponding ball radius distribution of robot for space working space is as shown in Figure 2.Wherein, the corresponding ball in path related work space
Radius distribution is in following two sections：
Rmin,1=0.9125m, Rmax,1=1.123m, Rmin,2=1.319m, Rmax,2=1.851m
The corresponding ball radius distribution of the unrelated working space in path is in following section：
Rmin,3=1.123m, Rmax,3=1.319m
After providing the Workspace Analysis for arresting movement locus and robot for space a little, according to the criterion of step 3 proposition
Determine the opportunity of robot for space capture Tum bling Target.As shown in figure 3, " circle " represents catching of meeting that the first two criterion obtains
Obtain opportunity, " box " represents consider third criterion after determination unique best capture opportunity, while according to arresting a little
The equation of motion, can obtain capture when, arrest a little be located at [- 1.1053,0.6116, -0.0457] m at, velocity magnitude for [-
0.0018,-0.0451,0.0348]m/s.Control machinery arm is unfolded, and makes end effector with identical as point is arrested at the capture moment
Speed reach at identical position, can then complete to arresting capture a little.
Kinematics/kinetic parameter of the table 1 with 3DOF mechanical arm robot for space
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (1)
1. a kind of opportunity of free-floating space robot capture Tum bling Target determines method, which is characterized in that including following step
Suddenly：
Step 1: establishing the equation of motion of Tum bling Target；
Tum bling Target model simplification is rectangular rigid body, coordinate system oxtytztTo be defined on the body coordinate system in target, wherein set
O is target centroid, and each reference axis is overlapped with by the principal axis of inertia of barycenter；It is I respectively that rigid body, which is defined, around the principal moments of each axisx,
Iy,Iz；Assuming that initial time body coordinate system and inertial coodinate system overlap, subsequent rigid body is rotated with angular velocity omega, is sat in ontology
The component of three axial directions of mark system is denoted as ω respectivelyx,ωy,ωz；Assuming that target in space not by any external force, then its posture power
Equation is learned to be expressed as：
Using the posture changing matrix of quaternion representation rigid body, obtain body coordinate system to inertial coodinate system posture changing matrix
A (q) is as shown in formula (2)：
Wherein,To indicate that the unit quaternion of posture, first three parameter represent the side of Euler's shaft
The size of Euler's corner is represented to, the 4th parameter, and the component of angular speed meets formula under quaternary number each element and body coordinate system
(3) attitude kinematics equations shown in：
It is denoted as assuming that only uniquely arresting the position vector a little arrested a little under body coordinate system on capture targetThen used
Under property coordinate system, the position vector arrested a little is expressed as：
Wherein, inv is indicated to matrix inversion；
The inertial parameter of target, initial angular velocity and the position arrested a little under target this system are obtained by discrimination method to sit
Mark, in conjunction with equation (1)~(4), provides and arrests a little movement locus in inertial space；
Step 2: calculating the working space of free-floating space robot；
Under satellite base body coordinate system, shown in the kinematical equation such as formula (5) of free-floating space robot：
Wherein,ove,oωeThe respectively linear velocity and angular speed of end effector,oJgFor the broad sense Jacobi square of robot for space
Battle array, subscript " o " indicate the expression under base body coordinate system；Equation shown in solution formula (6), obtains homographyoJgIt is unusual
The unusual arm type of free-floating space robot：
det[oJg]=0 (6)
One group of hypersurface Q under the solution corresponding joint of mechanical arm space of equation (6)s,i(i=1,2 ...), these hypersurfaces are
The unusual arm type corresponding joint corner q of mechanicssSet；Using the virtual machine arm model of free-floating space robot, the mould
Under type, the position vector of mechanical arm tail end is expressed as：
Wherein, rgFor the position vector of system barycenter,IACWithCAiRespectively system geocentric coordinate system is to inertial system and con-rod only
Coordinate system to system geocentric coordinate system transformation matrix,WithReferred to as virtual link vector；
The distance of system barycenter to mechanical arm tail end is expressed as：
Symbol " | | | | " indicate that vectorial length, formula (8) define the spherical surface for R (q) using system barycenter as the centre of sphere, radius；
Every group of joint rotation angle q for keeping Jacobian matrix unusualsIt is mapped to the spherical surface that inertial space all correspondings (8) define, based on same
The considerations of, each hypersurface Qs,iBeing mapped to inertial space will be corresponding using system barycenter as the centre of sphere, be defined by following two radiuses
Ball：
Remember Wi={ R (q):Rmin,i≤R(q)≤Rmax,i, then hypersurface Qs,iIt is mapped to inertial space and corresponds to set Wi；If side
The solution of journey (6) corresponds to multiple hypersurfaces, then inertial space has corresponding multiple set W1,W2,...,Wi..., freely float sky
Between the path related work definition space of robot beSymbol " ∪ " expression takes union of sets
Collection, the unrelated working space in path is by WPIW=Wreach/WPDWIt is calculated, WreachThe Work space of representation space robot,
Symbol " A/B " indicates the difference set of set A and B；
Step 3: determining the best opportunity of capture Tum bling Target；
Three criterion of setting are used to determine the best opportunity of robot for space capture Tum bling Target；
Criterion 1：Selection is carried out along capture direction when it is a little the nearest point of metric space robot system on Tum bling Target to arrest
It arrests；Tum bling Target model simplification is rectangular rigid body, and one vertex A representative of cuboid is arrested a little, other vertex B, C, D difference
Three adjacent seamed edges of the rectangular body Model of Tum bling Target are formed with point A；Assuming that robot for space is along inertial system positive direction of the x-axis position
Tum bling Target is captured in the front of target, and along inertial system x-axis direction, it is determined that first criterion for capturing opportunity is expressed as：
AndAnd
Wherein,The coordinate in the directions x under inertial system point A, B, C, D on Tum bling Target is indicated respectively；
Criterion 2：The unrelated working space in path for being a little located at robot for space is arrested when capture, and symbol W is used in step 2PIWIt indicates
The unrelated working space in path of free-floating space robot, if remembered the distance for a little arriving Space Robot System barycenter is arrested
For rdis, it is determined that second criterion for arresting opportunity is expressed as：
rdis∈WPIW
Criterion 3：When Tum bling Target moves, the position arrested a little may repeatedly meet criterion 1 and criterion 2, selection criterion 1 and criterion
As most preferably opportunity is arrested at the time of 2 first times met, the minimal reaction time t of robot for space is setreact, and think only have
When being more than the time on determining opportunity, robot for space is likely to complete the capture to target；Accordingly, it is determined that unique best
Arrest opportunity：
In t >=treactUnder the premise of, meet the nearest moment of criterion 1 and criterion 2.
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| CN106502261B (en) * | 2016-12-26 | 2019-06-21 | 西北工业大学 | The identification that star of receiving reconstructs fault satellites attitude control function controls integral method |
| CN106625671B (en) * | 2016-12-27 | 2019-02-19 | 西北工业大学 | A kind of robot for space arrests the optimal trajectory planning method of Tum bling Target |
| CN107220601B (en) * | 2017-05-18 | 2020-06-26 | 西北工业大学 | Target capture point prediction method based on online confidence degree discrimination |
| CN108445778B (en) * | 2018-02-06 | 2020-12-25 | 南京航空航天大学 | Dynamics modeling method for space non-cooperative target non-complete constraint assembly |
| CN109250156B (en) * | 2018-07-24 | 2020-10-16 | 西北工业大学 | Space non-cooperative target electromagnetic eddy current despinning capture device and method |
| CN109760046A (en) * | 2018-12-27 | 2019-05-17 | 西北工业大学 | Robot for space based on intensified learning captures Tum bling Target motion planning method |
| CN109669481B (en) * | 2019-01-24 | 2022-02-11 | 中国人民解放军国防科技大学 | Spacecraft safe approach control method based on equal collision probability surface method |
| CN109885968B (en) * | 2019-03-13 | 2020-11-20 | 南京航空航天大学 | Motion description modeling method and system for complex motion |
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