SIMULATION, ANALYSIS AND EXPERIMENTS OF ON-ORBIT ASSEMBLY BEHAVIOR ON FLEXIBLE STRUCTURE BY COOPERATIVE ROBOTS

摘要

This paper describes the planning and control of the cooperative space robot systems used to assemble large-scale flexible structures such as Space Solar Power System. One of the major challenges in the assembly process would be the handling of dimensional mismatch between the two structures to be joined. To track the vibrating structures before the grasp, we have demonstrated the algorithms for the visual servo in the wide area with motion prediction using cooperative robots on the ground testbed. After grasping the structures, we have simulated the forced assembly planning methods using cooperative robots to compensate for distortion.