A Ground Experiment System of Free-floating Robot For Capturing Space Target

Xu, Wenfu; Liang, Bin; Xu, Yangsheng; Li, Cheng; Wang, Qiang

doi:10.1007/s10846-006-9087-8

Cited by 57 publications

(19 citation statements)

References 13 publications

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“…Passing the vector of sigma points i D through a nonlinear function results in the propagated sigma points (13) and the approximated mean and the covariance can be calculated as…”

Section: B Unscented Kalman Filter Designmentioning

confidence: 99%

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Autonomous path planning and experiment study of free-floating space robot for spinning satellite capturing

Liu

Liang

Wang

et al. 2014

2014 13th International Conference on Control Automation Robotics &Amp; Vision (ICARCV)

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Robotic systems are expected to play an increasingly important role in future space activities with the development of space technology. The robotic on-orbital service, whose key is the capturing technology, becomes research hot in recent years. This paper focuses on the guidance of a robot manipulator to capture a spinning satellite with unknown dynamics parameters. In capturing a spinning satellite, a reference trajectory for control of the manipulator is generated with time delay due to the processing time of the target motion estimator and the manipulator controller. Consequently, the control system shows a poor performance and the end-effector sometimes fails to capture the target satellite. To solve this problem, the motion characteristics and motion prediction of the spinning satellite is analyzed Firstly, and using Unscented Kalman Filter (UKF) to predict its movement. Then, a method of autonomous path planning of a free-floating space robot for target capturing is proposed, which is based on motion prediction and speed compensation. Finally, a ground experiment system is set up based on the concept of dynamic emulation and kinematic equivalence. With the experiment system, the autonomous target capturing experiments are conducted. The experiment results validate the proposed algorithm.

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“…Passing the vector of sigma points i D through a nonlinear function results in the propagated sigma points (13) and the approximated mean and the covariance can be calculated as…”

Section: B Unscented Kalman Filter Designmentioning

confidence: 99%

“…Moreover, it is relatively cheap and the setup of the experiment system is easy. So far, these ground systems in China are mainly based on this technology; our institute also has some good experience in this technology [13]. However, most of these systems concentrated on cooperative target capturing.…”

Section: Introductionmentioning

confidence: 99%

Autonomous path planning and experiment study of free-floating space robot for spinning satellite capturing

Liu

Liang

Wang

et al. 2014

2014 13th International Conference on Control Automation Robotics &Amp; Vision (ICARCV)

Self Cite

View full text Add to dashboard Cite

show abstract

“…It is also an HIL simulation system. Some other experimental test facilities were also developed to support space robotics and OOS technology developments [223][224][225]. HIL simulation is powerful for testing complex space systems for complicated robotic tasks but it also suffer some drawbacks.…”

Section: Fig 6 Spdm Task Verification Facility (Stvf) [216]mentioning

confidence: 99%

“…Experimental facility for autonmous capturing of CSA [186] Neutral buoyancy Research Facility of the University of Maryland [202] EPOS system of DLR for captuirng/docking experiments [220] Ground experimental system of HIT [223] Facility for autonomous docking experiments of DARPA/NRL [225] Hybrid simulator for orbital operations experiments of the Tohuku University [227] Figure 7. Facilities for testing a space robotic system to capture a free-flying satellite or object in space…”

Section: Fig 6 Spdm Task Verification Facility (Stvf) [216]mentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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“…Chinese scientists developed a dual-robot facility to simulate satellites on orbit servicing operations [6] . Benninghoff presented a method for closed loop rendezvous simulation with optical sensors so that the GNC (Guidance, Navigation and Control) system could cope with delayed measurements and enabled a stable approach [7] .…”

Section: Introductionmentioning

confidence: 99%

Hardware-in-the-loop simulation system for space information networks

Xin

Wang

Jiang

et al. 2017

J. Commun. Inf. Netw.

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Thanks to the recent advances in SIS (Space Information Science) and increasingly mature technologies, network simulations have attracted much attention, which play vital roles in research on validation of the correctness of SIN's (Space Information Network) solutions. In this paper, we constitute an architecture of a hardware-in-the-loop simulation system, where we use a server to act as a real satellite of SINs. Moreover, we model the channel of the satellite network relying on real cables and servers by referring to the Corazza model. Furthermore, based on the data of real weather events, we propose a coordinate mode for reducing LEO's (Low Earth Orbit) communication delay and validate the efficiency of our proposed method on simulation platform by simplifying the problem to a shortest path problem.

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A Ground Experiment System of Free-floating Robot For Capturing Space Target

Cited by 57 publications

References 13 publications

Autonomous path planning and experiment study of free-floating space robot for spinning satellite capturing

Autonomous path planning and experiment study of free-floating space robot for spinning satellite capturing

A Review of Robotics Technologies for On-Orbit Services

Hardware-in-the-loop simulation system for space information networks

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