A modelling and simulation system of space robot for capturing non-cooperative target

Abstract

Space robotic systems are expected to play an increasingly important role in the future. The applications include repairing, refuelling or the de-orbiting of a satellite, or removal of space debris. Such objects are generally non-cooperative, i.e. neither any artificial patterns used for the measurement nor grappling fixtures applied for the capture are mounted on the targets. In this article, we propose a method for autonomous rendezvous with and capturing of a non-cooperative object in space and develop a modelling and simulation system to verify the corresponding algorithms. The system, realized in VC ® (Microsoft Visual C++) environment, is composed of seven modules: Image Processing and 3D Reconstruction, the Planning and Control of the Chaser, the Target Controller, the Dynamic Model, the Geometry Model, the Binocular Cameras Model and the Stereo Calibration Module. With the system, the closed-loop simulations, including image grabbing, image processing, pose measurement, chaser guidance, navigation and control (GNC) and the system's dynamic motion, were conducted and the key algorithms validated.

Security-Minded Verification of Space Systems

“…This docking is performed autonomously in a similar manner to the Orbital Express Demonstration System flight in 2007 [66]. A typical on-orbit servicing is mainly included: far range rendezvous, close range rendezvous and target capturing [67,68,69]. Figure 4 illustrates an autonomous on-orbit rendezvous.…”

Kalman smoothing with soft inequality constraints for space robot teleoperation

“…The configuration of the manipulator can be found in the literature. 26,27 Joint-vec (deg/s) The manipulator can just move in the two-dimensional plane, so only three joints can be rotated. The 3-D presimulator is used to realize the collision detection, and solid-frame model and wire-frame model represent current planning position and position received from space robot.…”

Cooperative Relative Navigation for Space Rendezvous and Proximity Operations using Controlled Active Vision

“…Despite the cost of an additional camera, when the target is close, the large epipolar disparity provides high localization accuracy at a low computational cost; however, when the target is farther away, stereo vision does not seem to offer any significant advantage due to the small disparity. As a result, stereo‐based localization and mapping techniques have been proposed and extensively used in close proximity space robotics applications (Xu, Liang, Li, Liu, & Wang, ; Xu, Liang, Li, & Xu, ) and underwater remotely operated vehicles (ROVs) (Jasiobedzki, Se, Bondy, & Jakola, ). Howard and Bryan () reported that AVGS also utilized a stereo‐vision system.…”