基于柔性关节机械臂振动的空间非合作目标质量辨识

摘要

For the identification of mass parameter of non-cooperative space target in on-orbit servicing missions,a method of mass identification based on vibration characteristic of the flexible-joint manipulator is proposed.Firstly,the flexible-joint manipulator captures non-cooperative target.Then,the dynamic model of the combinedbody formed by operational spacecraft,flexible-joint manipulator and non-cooperative space target is established.Finally,the mass of non-cooperative space target is identified by analyzing the vibration frequency of the manipulator.Numerical simulation results show the effectiveness of the method.%针对空间在轨服务任务中捕获的非合作目标的质量辨识问题,提出了一种基于柔性关节机械臂振动频率的质量辨识方法.在该方法中,首先利用操作航天器上的柔性关节机械臂捕获空间非合作目标;然后对操作航天器、柔性关节机械臂与空间非合作目标形成的组合体进行动力学建模;最后通过分析柔性关节机械臂的振动频率来辨识空间非合作目标的质量.数值仿真结果证实了该方法的有效性.