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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhao, Zhijun Xiao, Tao Tang, Zixin Gao, Xiangyu Liu, Xin Zhang, Wenming Liu, Bin Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing100092 China

ISBN: (纸本)9781728164151

It is microgravity on the small body, and its medium is unknown and diverse. The lander is easy to rebound or tip over when landing and easy to drift away after landing. Thus, the lander should have the functions such as cushioning, terrain adapting and anchoring. At present, the moon and Mars landers mostly use honeycomb aluminum to achieve passive buffering. Honeycomb aluminum has good buffering effect under heavy load. This paper proposes an electromagnetic damping and anchoring leg for the small body lander. The leg integrates the folding mechanism and the buffering mechanism as a part and can sense the landing force. This force signal is used to realize the buffering function of the landing leg. An ultrasonic drill is attached at the end of the landing leg to realize anchoring after landing. Landing and anchoring performances of the landing leg are tested. © 2020 IEEE.

关键词： Landing

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Combined active and passive adaptive variable admittance compliant control for space robotic manipulators

Combined active and passive adaptive variable admittance com...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Gao, Hang Zhang, Xiaodong Ma, Chao Zhou, Cheng University of Science and Technology Beijing School of Mechanical Engineering Beijing100083 China Beijing Institute of Spacecraft System Engineering Cast Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application China

ISBN: (纸本)9798350325706

This paper develops a combined active and passive adaptive variable admittance compliant control algorithm for space robotic manipulators. In fact, the assembly task for space robots requires compliance and precision while ensuring avoidance of any occurrences of rigid collision throughout the process. Therefore, we design a new combined active and passive variable admittance control structure combined with the following three parts to meet these acquirements. Firstly, we develop an active variable admittance algorithm to facilitate the space robot rapid movement, enabling it to achieve higher speeds while maintaining compliance. Then, to mitigate the occurrence of unforeseen rigid collisions during the robot motion, we devise a passive variable admittance control algorithm, which aims to minimize the impact of collision events and ensure the robot safe operation. Furthermore, by employing the Lyapunov theory, a new active adaptive variable admittance control algorithm is presented for robot constant force output. Consequently, through contrast experiments, we demonstrate the effectiveness and enhanced performance of the proposed algorithm. © 2023 IEEE.

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Meter-Scale Thin-Walled Structure with Lattice Infill for Fuel Tank Supporting Component of Satellite:Multiscale Design and Experimental Verification

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Computer Modeling in Engineering & Sciences 2024年第1期138卷 201-220页

作者： Xiaoyu Zhang Huizhong Zeng Shaohui Zhang Yan Zhang Mi Xiao Liping Liu Hao Zhou Hongyou Chai Liang Gao Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of TechnologyBeijing100081China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan430081China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Lightweight thin-walled structures with lattice infill are widely desired in satellite for their high stiffness-to-weight ratio and superior buckling strength resulting fromthe sandwich *** structures can be fabricated bymetallic additive manufacturing technique,such as selective laser melting(SLM).However,the maximum dimensions of actual structures are usually in a sub-meter scale,which results in restrictions on their appliance in aerospace and other *** this work,a meter-scale thin-walled structure with lattice infill is designed for the fuel tank supporting component of the satellite by integrating a self-supporting lattice into the thickness optimization of the *** designed structure is fabricated by SLM of AlSi10Mg and cold metal transfer welding ***-static mechanical tests and vibration tests are both conducted to verify the mechanical strength of the designed large-scale lattice thin-walled *** experimental results indicate that themeter-scale thin-walled structure with lattice infill could meet the dimension and lightweight requirements of most spacecrafts.

关键词： Thin-walled structure lattice infill supporting component selective laser melting satellite

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

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Improved deep deterministic policy gradient algorithm based on prioritized sampling

Improved deep deterministic policy gradient algorithm based ...

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Chinese intelligent systems Conference, CISC 2018

作者： Zhang, HaoYu Xiong, Kai Bai, Jie Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing100190 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9789811322877

Deep reinforcement learning tends to have low sampling efficiency, and prioritized sampling algorithm can improve the sampling efficiency to a certain extent. The prioritized sampling algorithm can be used in deep deterministic policy gradient algorithm, and a small sample sorting method is proposed to solve the problem of high complexity of the common prioritized sampling algorithm. Simulation experiments prove that the improved deep deterministic policy gradient algorithm improves the sampling efficiency and the training performance is better. © Springer Nature Singapore Pte Ltd. 2019.

关键词： Reinforcement learning

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Data-driven Modeling of Nonlinear Joints in space Structures 41

Data-driven Modeling of Nonlinear Joints in Space Structures

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第41届中国控制会议

作者： Yonglei Zhang Xiaoyu Wang Xinyuan Li Hao Wen Shidong Xu State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The existence of nonlinear joints has a great influence on the dynamics of large flexible sapce *** a prerequisite of attitude control and vibration suppression of flexible spacecraft,it is of great importance to establish highconfidence models of joints to predict its dynamic characteristics ***,a single-degree-of-freedom model of the nonlinear joint is established based on the describing function method and harmonic balance method(HBM).In particular,the dynamic funtions of the joints with cubic stiffness and freeplay nonlinearity are derived,and the response and external excitation data are used to train surrogate models by a multi-step DNN *** validity of the data-driven modeling approach is further verified by response prediction under a different excition ***,the characteristic of an unknown nonlinearjoint is revealed by the data-driven modeling approach based on the experimental data.

关键词： Nonlinear joints space structures data-driven modeling response prediction

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Lunar Rover's Path Tracking Control Strategy Using Zero-Order Optimization Method

Lunar Rover's Path Tracking Control Strategy Using Zero-Orde...

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2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Cao, Jianfei Wang, Yaobing Yu, Jiyang Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9798331517199

The development of lunar rovers is critical for human exploration of the lunar surface. These rovers will need to travel longer distances at higher speeds, and the efficient control of their paths is essential for mission success. Model Predictive Control (MPC) is a path tracking method with foresight and robustness, capable of predicting vehicle movement and solving optimization problems to minimize cost functions. However, the complexity of lunar environments necessitates simplified models, such as kinematic models, to reduce computational cost. The study proposes a special MPC method that uses zeroth-order gradient optimization to directly solve the nonlinear model and generate precise control commands, significantly reducing computational burden and meeting the computational cost requirements of lunar rover control. © 2024 IEEE.

关键词： Cost functions

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A Survey of space robotic Technologies for On-Orbit Assembly

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space(Science & technology) 2022年第1期2022卷 325-337页

作者： Delun Li Lou Zhong Wei Zhu Zhipeng Xu Qirong Tang Wenhao Zhan Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijingChina College of Mechanical Engineering Tongji UniversityShanghaiChina National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijingChina

The construction of large structures is one of the main development trends of the space exploration in the future,such as large space stations,large space solar power stations,and large space *** is one of important development tendency,which aims to make full use of space robots to assemble space structures autonomously in the aerospace *** that on-orbit assembly is an effective method to solve the problem of construction of large-scale spatial structures,it is necessary to motivate and facilitate the research of space robotics technologies for on-orbit ***,in this paper,the development status of space robot technology and the relevant space robot on-orbit assembly technology in recent decades are ***,based on the space robot motion planning and assembly sequence planning,the development of space robot planning algorithms is *** space robot assembly task,the space robot assembly method is *** the control point of view,how to solve the vibration suppression and compliant assembly of on-orbit assembly is reviewed,which provides a reference for the autonomous intelligent assembly of space robots for large-scale structures in *** order to simulate the space assembly scene on the ground,this paper introduces the development of ground verification experiments and provides ideas for the effective verification of space on-orbit assembly *** summary,though some of these problems have been satisfactorily solved in the past research,further research is still necessary in the ***,it looks forward to the future research direction of space machine on-orbit assembly.

关键词： robot summarized autonomous

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Study on Buffering and Motion Control of Quadruped Explorer

Study on Buffering and Motion Control of Quadruped Explorer

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IEEE Advanced Information technology, Electronic and Automation Control Conference (IAEAC)

作者： Pei Zhang Xiangyu Gao Qingqing Wei Chu Wang Xin Liu Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Beijing China

To address the problem of insufficient driving capacity of wheel explorer in rugged terrain, a quadruped explorer with 12 DOF was proposed. The dynamic model of quadruped explorer was established in gazebo, the integrated method of buffering and motion control was verified through simulation which showed that the landing impact upon explorer landing leg was significantly reduced and the explorer gait motion was both stable and flexible.

关键词： Jacobian matrices Information technology Automation Conferences Wheels Dynamics Motion control

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Trajectory Planning Simulation of 3-DoF Parallel Wrist Mechanisms Based on SimMechanics 9

Trajectory Planning Simulation of 3-DoF Parallel Wrist Mecha...

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9th IEEE International Conference on Cyber technology in Automation, Control and intelligent systems, CYBER 2019

作者： Yang, Chen Xin, Liu Shimin, Wei Ying, Zhang Qineng, Huang School of Automation Beijing University of Posts and Telecommunications Beijing100876 China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing100094 China

ISBN: (纸本)9781728107691

In this paper, the trajectory planning problem of a 3-DoF parallel wrist mechanism based on SimMechanics is proposed, which is a symmetric spherical 3-RRR parallel mechanism. The formulation of the inverse kinematics for the mechanism is firstly established by D-H matrix method, and the analytical solution is obtained. Then, the trajectory planning analysis of the mechanism is performed. Finally, the mechanism model is constructed based on the SimMechanics module of Matlab/Simulink, and the trajectory planning simulation of the mechanism is carried out. The simulation results agree well with the theoretical results, which indicate that the proposed method is feasible and convenient for the trajectory simulation of parallel mechanisms. © 2019 IEEE.

关键词： Inverse kinematics

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