Abstract A fuel-efficient control strategy for a manipulator-equipped spacecraft is presented. The strategy uses the thrusters, the reaction wheels, and the arm drives in a coordinated way to limit the use of the thrusters and achieve ideally zero fuel consumption in contact-free maneuvering. The thrusters are activated automatically only after contact, to stabilize the inertial motion of the system. The controller regulates the translation of the center-of-mass (CoM) of the whole space robot, the rotation of the spacecraft, and the pose of the end-effector (EE) in a decoupled way, utilizing the thrusters to control the CoM translation only and the remaining actuators to control the rotation and end-effector coordinately. The method is validated experimentally using a hardware-in-the-loop simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a 6DOF simulated spacecraft. Numerical simulations with discrete thrusters assess the fuel efficiency of the proposed strategy.

中文翻译：

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轨道机器人中推进器、反作用轮和手臂的协调

摘要 提出了一种装有机械臂的航天器的节油控制策略。该策略以协调的方式使用推进器、反作用轮和臂驱动器来限制推进器的使用，并在无接触机动中实现理想的零油耗。推进器仅在接触后自动激活，以稳定系统的惯性运动。控制器以解耦方式调节整个空间机器人的质心 (CoM) 平移、航天器的旋转和末端执行器 (EE) 的姿态，利用推进器控制 CoM仅平移和其余执行器协调控制旋转和末端执行器。该方法使用硬件在环模拟器进行实验验证，该模拟器由安装在 6DOF 模拟航天器上的七自由度 (DOF) 臂组成。离散推进器的数值模拟评估了所提出策略的燃料效率。