On-orbit construction and maintenance technology will play a significant role in future space exploration.The dexterous multifunctional spacecraft equipped with multi-arm,for instance,Spider Fab Bot,has attracted a gr...On-orbit construction and maintenance technology will play a significant role in future space exploration.The dexterous multifunctional spacecraft equipped with multi-arm,for instance,Spider Fab Bot,has attracted a great deal of focus due to its versatility in completing these missions.In such engineering practice,point-to-point moving in a complex environment is the fundamental issue.This paper investigates the three-dimensional point-to-point path planning problem,and a hierarchical path planning architecture is developed to give the trajectory of the multi-arm spacecraft effectively and efficiently.In the proposed 3-level architecture,the high-level planner generates the global constrained centric trajectory of the spacecraft with a rigid envelop assumption;the middle-level planner contributes the action sequence,a combination of the newly developed general translational and rotational locomotion mode,to cope with the relative position and attitude of the arms about the centroid of the spacecraft;the low-level planner maps the position/attitude of the end-effector of each arm from the operational space to the joint space optimally.Finally,the simulation experiment is carried out,and the results verify the effectiveness of the proposed three-layer architecture path planning strategy.展开更多
This paper focuses upon the novel optical conical scanning imaging working mode design for small satellites.This kind of satellite employs only one inclined optical camera achieving wide-swath imaging via a rotational...This paper focuses upon the novel optical conical scanning imaging working mode design for small satellites.This kind of satellite employs only one inclined optical camera achieving wide-swath imaging via a rotational motion about the nadir axis either by the camera or by the satellite.Three working modes are designed,i.e.,high-speed rotational mode,low-speed rotational mode,and variable-speed rotational mode.For the high-speed and low-speed working modes,the camera rotates at a constant speed and the corresponding angular velocity is derived under the consideration of guaranteed coverage and minimized overlap.To improve the system performance,an enhanced working mode taking advantages of both the high-speed rotational mode and lowspeed rotational mode is proposed.Working in this variable-speed rotational mode,the camera rotates slowly to get high-quality pictures when it works,while it rotates rapidly to reduce the energy consumption and save the storage during which period the camera is turned off to minimize the overlap.All these working modes are illustrated in detail,and numerical simulation tests are conducted to validate their effectiveness.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.62003115 and 11972130)the Shenzhen Natural Science Fund(the Stable Support Plan Program GXWD2020123015542700320200821170719001)。
文摘On-orbit construction and maintenance technology will play a significant role in future space exploration.The dexterous multifunctional spacecraft equipped with multi-arm,for instance,Spider Fab Bot,has attracted a great deal of focus due to its versatility in completing these missions.In such engineering practice,point-to-point moving in a complex environment is the fundamental issue.This paper investigates the three-dimensional point-to-point path planning problem,and a hierarchical path planning architecture is developed to give the trajectory of the multi-arm spacecraft effectively and efficiently.In the proposed 3-level architecture,the high-level planner generates the global constrained centric trajectory of the spacecraft with a rigid envelop assumption;the middle-level planner contributes the action sequence,a combination of the newly developed general translational and rotational locomotion mode,to cope with the relative position and attitude of the arms about the centroid of the spacecraft;the low-level planner maps the position/attitude of the end-effector of each arm from the operational space to the joint space optimally.Finally,the simulation experiment is carried out,and the results verify the effectiveness of the proposed three-layer architecture path planning strategy.
基金supported by the National Natural Science Foundation of China(Grant No.11972130)。
文摘This paper focuses upon the novel optical conical scanning imaging working mode design for small satellites.This kind of satellite employs only one inclined optical camera achieving wide-swath imaging via a rotational motion about the nadir axis either by the camera or by the satellite.Three working modes are designed,i.e.,high-speed rotational mode,low-speed rotational mode,and variable-speed rotational mode.For the high-speed and low-speed working modes,the camera rotates at a constant speed and the corresponding angular velocity is derived under the consideration of guaranteed coverage and minimized overlap.To improve the system performance,an enhanced working mode taking advantages of both the high-speed rotational mode and lowspeed rotational mode is proposed.Working in this variable-speed rotational mode,the camera rotates slowly to get high-quality pictures when it works,while it rotates rapidly to reduce the energy consumption and save the storage during which period the camera is turned off to minimize the overlap.All these working modes are illustrated in detail,and numerical simulation tests are conducted to validate their effectiveness.
