Attitude control for astronaut assisted robot in the space station

Jinguo Liu, Qing Gao, Zhiwei Liu, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

20 Citations (Scopus)

Abstract

Because of the limited working hours of astronauts in the space station, the in-cabin robot has high value in the technological validation and scientific research. Based on this requirement, we proposed and designed an Astronaut Assisted Robot(AAR) working in the space station. It can float in the space station cabin, fly autonomously, and hold a fixed position and/or posture. In addition, it also possesses environmental awareness capabilities and intelligence. Thus the AAR can assist astronauts to complete some special scientific experiments or technical tests. In this paper, the system architecture and experimental equipment of the AAR are designed firstly depending on the characteristics of space microgravity environment and the requirements of assisting astronauts missions. And then, the motion principles of the AAR are analyzed and the robot’s dynamic model is established by using the Newton - Euler algorithm. Since the attitude control of the robot is the basis for its free movement, the PID Neural Network(PIDNN) algorithm, which is a kind of intelligent control algorithm, is used to design the attitude controller of the AAR. Finally, the reasonability of the robot’s structural design and the availability of its attitude controllers are verified through the simulation experiments.
Original languageEnglish
Pages (from-to)1082-1095
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Volume14
Issue number4
DOIs
Publication statusPublished - 1 Aug 2016
Externally publishedYes

Keywords

  • Astronaut assisted robot
  • attitude control
  • PID Neural Network
  • space station

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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