发表机构
University of Southern California（南加州大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究利用机器人操纵器运动进行自由漂浮航天器无推进剂姿态控制，通过制定带约束的轨迹优化问题求解，展示多种系统轨迹，经与反作用轮阵列比较，证明其可作冗余或主要姿态控制系统，为空间应用提供框架。
AI 中文摘要
传统上，航天器姿态控制通过动量交换装置或消耗推进剂的推进器来实现。与此同时，越来越多的任务需要机器人操纵器，其通常被视为要消除的干扰源而非用于航天器重新定向的执行器。本文通过制定具有关键关节和碰撞避免约束的轨迹优化问题，研究利用操纵器运动进行无推进剂姿态控制。使用内点求解器求解所得非线性规划，展示了一系列具有不同运动学复杂性和质量特性的航天器 - 操纵器系统的复杂回转和去翻滚轨迹。通过动量和扭矩包络将可实现的控制权限与反作用轮阵列直接比较，证明了操纵器作为冗余甚至主要姿态控制系统的潜力。本文为将操纵器用作多功能姿态控制执行器提供了一个框架，在抓取具有高相对质量分数的有效载荷时，在空间组装和制造方面有特别有前景的应用。
英文摘要
Spacecraft attitude control is traditionally achieved using momentum exchange devices or propellant-consuming thrusters. Meanwhile, a growing number of missions require robotic manipulators, which are typically treated as disturbance sources to be rejected rather than as actuators for spacecraft reorientation. This work investigates the use of manipulator motions for propellant-free attitude control by formulating a trajectory optimization problem with critical joint and collision avoidance constraints. Using an interior-point solver for the resulting nonlinear program, complex slew and detumble trajectories are computed for a range of spacecraft-manipulator systems, demonstrating rest-to-rest slew maneuvers of up to 90$^\circ$ and detumble maneuvers with a 40% reduction in angular velocity. The achievable control authority is also compared directly with that of reaction wheel arrays via momentum and torque envelopes, demonstrating the potential for manipulators to serve as redundant or even primary attitude control systems. This work provides a framework for using manipulators as multipurpose attitude control actuators, with particularly promising applications in in-space assembly and manufacturing when grasping payloads with high relative mass fractions.
CommentsAccepted to ISPARO 2026
