A parametric analysis of a controlled deployable space manipulator for capturing a non-cooperative flexible satellite

Stolfi, A.; Gasbarri, Paolo; Sabatini, Marco

doi:10.1016/j.actaastro.2018.04.028

Cited by 40 publications

(15 citation statements)

References 13 publications

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“…FIGURES 15, 18, 21 depict the time histories of the relative velocity of the Tip 1 and Tip 3 of the end-effector to the closest points on the target satellite. FIGURES 16,19,22 plot the time histories of the close angle of the end-effector. As could be seen in FIGURES 14,15,17,18,20,21, there are oscillations in all of the distance and relative velocity curves in the initial stage of three simulations.…”

Section: A Effectiveness Evaluation Of the Control Methodsmentioning

confidence: 99%

“…Here, the impedance control was employed to realize the soft contact in the normal direction of a non-cooperative satellite surface, while the position control was utilized to maintain the end-tip position and orientation at the same contact point. In [18], [19], the compliant wrist was also added to the end-effector and the impedance control method has been adopted for contact control. Unlike [15], the compliant wrist was employed only to prolong the contact duration when the space robot collides with the target.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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Grasping a non-cooperative ''customer satellite'' with a robotic arm is a challenging task for on-orbit services of spacecraft since the collision between the robot and the target is inevitable and the dynamic behaviors of the two objects are hard to control after the collision. To grasp successfully, the contact between the space robot and the target is hoped to be maintained after the collision. In this paper, the contact control problem for grasping a non-cooperative satellite is studied. First, to simulate the contact conditions as realistic as possible, the multibody dynamics, the modified Hertz contact, and the contact detection theory are employed to establish a grasping dynamics model. Then, based on the study on the dynamic behavior of the two-ball collision problem, a hybrid control scheme with damping and attitude tracking controllers is proposed. By this scheme, the control goal, i.e. maintaining the contact between the robot and the target, can be realized after multiple collisions. Finally, numerical simulations are performed to validate the proposed control scheme, and the results demonstrate its effectiveness in grasping a non-cooperative tumbling satellite.

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Section: A Effectiveness Evaluation Of the Control Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

et al. 2020

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“…In order to absorb the impact energy and make the contact process behave like a spring-damper system, the end-effector structure is designed as shown in Figure 2 . This end-effector is mainly composed of a prismatic joint, a contact plane, an axis spring, and a torsional spring, which is connected with the last joint of the manipulator [ 35 ]. Note that there is no active control unit in the end-effector.…”

Section: Space Manipulator Modelingmentioning

confidence: 99%

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

Kang

Zhang

et al. 2020

Sensors

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The contact force/torque between the end-effector of the space manipulator and the target spacecraft will reduce the efficiency and safety of the capture task. A capture strategy using PD-impedance combined control algorithm is proposed to achieve compliant contact between the chaser and target spacecraft. In order to absorb the impact energy, a spring-damper system is designed at the end-effector, and the corresponding dynamics model is established by Lagrange’s equation. Then a PD-impedance control algorithm based on steady-state force tracking error is proposed. Using this method, a compliant contact between the chaser and target spacecraft is realized while considering the dynamic coupling of the system. Finally, the general equation of the reference trajectory of the manipulator end-effector is derived according to the relative velocity and impact direction. The performance of the proposed capture strategy is studied by a co-simulation of MSC Adams and MATLAB Simulink in this paper. The results show that the contact plane at the end-effector of the manipulator can decelerate and detumble the target spacecraft. Besides, the contact force, relative velocity, and angular velocity all decrease to zero gradually, and the final stable state can be maintained for a prescribed time interval.

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“…However, it is impossible to transport it to space as a whole or install such a large space system manually in space. Large space structure construction through on-orbit services (OOS) may be the best solution [2][3][4][5][6][7][8][9][10][11][12][13]. OOS missions also include visual inspection, fuel refueling and satellite repair and are of increasing interest to the space industry because of their high economical potential and strategic benefits.…”

Section: Introductionmentioning

confidence: 99%

“…There are many interesting challenges in the development and operation of space robots for OOS missions, such as motion estimation and the prediction of target objects, multi-physics modeling and the simulation of space manipulators, practical dynamic parameter identification, dexterous and efficient manipulation, time delay and sensor errors in feedback controls, compliance and intelligent controls, multi-arm coordinated controls and operations, among others [5][6][7]. A visual servo is also an important technology for manipulators for OOS missions [8][9][10][11][12][13]. It uses the image information captured by a camera to position or track space manipulators.…”

Section: Introductionmentioning

confidence: 99%

Improved Uncalibrated Visual Servo Strategy for Hyper-Redundant Manipulators in On-Orbit Automatic Assembly

Zhu

Cao

et al. 2020

Applied Sciences

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Aiming at on-orbit automatic assembly, an improved uncalibrated visual servo strategy for hyper-redundant manipulators based on projective homography is proposed. This strategy uses an improved homography-based task function with lower dimensions while maintaining its robustness to image defects and noise. This not only improves the real-time performance but also makes the joint space of hyper-redundant manipulator redundant to the homography-based task function. Considering that the kinematic parameters of the manipulator are easily changed in a space environment, the total Jacobian between the task function and manipulator joints is estimated online and used to construct a controller to directly control the manipulator joints without a kinematics model. When designing the controller, the above-mentioned redundancy is exploited to solve the problem of the over-limiting of the joint angles of the manipulator. The KF-SVSF method, which combines the optimality of the Kalman filter (KF) and the robustness of the smooth variable structure filter (SVSF), is introduced to the field of uncalibrated visual servos for the first time to perform the online estimation of the total Jacobian. In addition, the singular value filtering (SVF) method is adopted for the first time to avoid the interference caused by the unstable condition number of the estimated total Jacobian. Finally, simulations and experiments verify the superiority of this strategy in terms of its real-time performance and precision.

show abstract

A parametric analysis of a controlled deployable space manipulator for capturing a non-cooperative flexible satellite

Cited by 40 publications

References 13 publications

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

PD-Impedance Combined Control Strategy for Capture Operations Using a 3-DOF Space Manipulator with a Compliant End-Effector

Improved Uncalibrated Visual Servo Strategy for Hyper-Redundant Manipulators in On-Orbit Automatic Assembly

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