Inertial parameter identification, reactionless path planning and control for orbital robotic capturing of unknown objects

Chapter Contents: 6.1 Introduction 6.1.1 Relative work and development status 6.1.1.1 Method for identifying inertial parameters of space non-cooperative targets 6.1.1.2 Reactionless path planning for non-cooperative objects capture 6.1.1.3 Attitude stable control method of spacecraft-manipulator-target system 6.2 Joint kinetic model of spacecraft and unknown object 6.2.1 System kinematic analysis 6.2.1.1 System position vector analysis 6.2.1.2 System velocity vector analysis 6.2.1.3 Velocity Jacobian matrix 6.2.1.4 System linear and angular momentum calculation 6.2.2 System kinetic analysis 6.3 Unknown object inertial parameter identification 6.3.1 Basic theory of identification 6.3.2 Identification scheme incorporating information of contact force together with force/torque of end-effector 6.3.3 Solution of the modified identification equation using the hybrid RLS-APSA algorithm 6.4 Adaptive reactionless control strategy during manipulation of unknown object 6.4.1 Adaptive reactionless path planning via SW-RLS 6.4.2 Robust adaptive control strategy via the PSO-ELM algorithm 6.4.2.1 Adaptive control term via PSO-ELM algorithm 6.4.2.2 Robust control strategy 6.4.2.3 Stability analysis of the proposed control strategy 6.5 Numerical simulation 6.5.1 Inertial parameter identification simulation 6.5.2 Path planning and control simulation 6.6 Experimental results 6.7 Recommendations and future work References