DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Bang, Hyochoong | - |
dc.contributor.advisor | 방효충 | - |
dc.contributor.author | Lee, Dahyun | - |
dc.date.accessioned | 2023-06-26T19:33:11Z | - |
dc.date.available | 2023-06-26T19:33:11Z | - |
dc.date.issued | 2022 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=997553&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/309750 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 우주탐사공학학제전공, 2022.2,[v, 55 p. :] | - |
dc.description.abstract | Space manipulators will play a substantial role in future space missions such as On-Orbit Servicing (OOS), Active Debris Removal (ADR), manufacturing, etc. However, motion planning of the free-floating base is highly complicated | - |
dc.description.abstract | due to the coupling motion between the base and the manipulator. Also, those missions are facing new challenges since targets are usually non-cooperative and tumbling. In this thesis, docking for a non-cooperative rotating target after proximity operation has been examined with a free-floating two-finger gripper system. First, two spacecraft systems, single-arm and dual-arm spacecraft, have been designed. Generalized Jacobian Matrix (GJM) is applied to describe their coupling kinematic motion. Second, a state-of-the-art DDPG algorithm is adopted for motion planning. It has an advantage over model-based algorithms because of computation time and robustness in a dynamic environment. It does not require an uncertainty boundary. This thesis suggests to consider the capture angle in motion planning, not only the distance between the end-effector and the target. Lastly, we trained the motion planning algorithm in the OpenAI gym custom environment for simulation. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.title | Motion planning of space manipulator for capturing a tumbling non-cooperative target using reinforcement learning | - |
dc.title.alternative | 회전하는 비협조적인 물체를 잡기 위해 강화학습을 적용한 우주 조작기의 모션 플래닝 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :우주탐사공학학제전공, | - |
dc.contributor.alternativeauthor | 이다현 | - |
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