Free-Floating 로봇 위성의 동역학적 커플링을 고려한 상태 추정과 순환 뉴턴-오일러 방식의 계산 토크 제어 = State Estimation and Recursive Newton-Euler Formula Computed Torque Control Considering Dynamic-Coupling of Free-Floating Robotic Satellite

국문 초록 (Abstract)

미국, 일본 등 일부 우주기술 선진국에서는 1950년대 전후로 로봇 위성에 관한 연구가 시작되었다. 또한 실제 우주에서 실험까지 성공했는데, 로봇팔의 도움을 받아 도킹에 성공한 JAXA의 ETS-VII(1997)과 공중 급유에 성공한 DARPA의 ASTRO/NextSat(2007) 등이 대표적인 사례다. 이에 반해 국내에서는 로봇 위성에 관한 연구가 상대적으로 부족한 상황이다. 본 연구는 국내에서 진행된 로봇 위성의 기초 연구로서, 특히 시스템 구성요소의 상태(위치, 속도, 가속도)를 추정하는 데 초점을 두었다. 추정한 상태 값은 Simulink의 Simscape Multibody Toolbox에서 제공하는 시뮬레이션 데이터와 비교함으로써 검증하였다. 또한 추정한 값을 이용해 feed-forward 방식의 순환 뉴턴-오일러 역동역학 해를 구하고 로봇을 제어하는 일련의 과정을 제시했다.

다국어 초록 (Multilingual Abstract)

In countries like the United States and Japan, which are at the forefront of space technology, research on robotic satellites began in the 1950s. Successful experiments in space were also conducted, including notable achievements like JAXA's ETS-VII (1997) and DARPA's ASTRO/NextSat (2007), which successfully accomplished docking maneuvers with the assistance of robot arms. However, research on robot satellites in Korea has been relatively inactive. In this trend, this paper is a basic research of the robot satellite conducted in Korea and focuses on estimating the system state. The estimated states were validated by comparing them with values provided by Simulink's Simscape Multibody Toolbox. Additionally, we presented the process for implementing recursive Newton-Euler inverse dynamics in feed-forward scheme, which adopted the estimated states to control manipulator mounted on the satellite.

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