A Review of Robotics Technologies for On-Orbit Services

Flores-Abad, Ángel; Ma, Ou; Pham, Khanh

doi:10.21236/ada576377

Cited by 12 publications

(8 citation statements)

References 182 publications

(199 reference statements)

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“…The advancement of space technology has brought to the forefront a range of critical challenges, such as spacecraft maintenance and rescue in orbit [1], the removal of space debris [2], satellite rendezvous and docking [3], companion flight monitoring, and in-orbit capture [4]. These are urgent problems that demand effective solutions.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, we study the parallelogram fitting method of rectangular features and apply it to non-cooperative spacecraft detection. The algorithm has following advantages: (1) The algorithm has strong adaptability and can be used to detect rectangular features that most spacecrafts have; (2) The calculation efficiency of the algorithm is high, because the fine elements and interference elements inside the shape envelope will be gradually eliminated during operation, greatly reducing the amount of calculation; (3) The algorithm has high fitting accuracy. It combines the imaging characteristics of rectangular features.…”

Section: Introductionmentioning

confidence: 99%

“…The major contributions of this paper are presented as follows: (1) The imaging characteristics of rectangles, which are the typical natural characters, in the image plane are analyzed. A parallelogram fitting method for rectangular features in the image plane is proposed; (2) The parallelogram fitting method is applied to the measurement of non-cooperative spacecraft. Natural features on non-cooperative targets such as spacecraft bodies and solar panels are detected and measured without adding additional cooperative markers.…”

Section: Introductionmentioning

confidence: 99%

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Rectangular Natural Feature Recognition and Pose Measurement Method for Non-Cooperative Spacecraft

Wang,

Xu,

Yan

et al. 2024

Preprint

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Accurately estimating the pose of spacecraft is indispensable for space applications. However, such targets are generally non-cooperative, i.e., no markers are mounted on it and no parts for operation. Therefore, the detection and measurement of a non-cooperative target is very challenging. Stereovision sensors are important solutions in the near field. In this paper, a rectangular natural feature recognition and pose measurement method for non-cooperative spacecraft is proposed. Solar panels or the bodies of spacecraft are selected as detection objects and their image features are captured by stereo vision. These rectangle features are then reconstructed in 3D Cartesian space through parallelogram fitting on the image planes of two cameras. The vertexes are used to calculate the center position of the rectangle and the direction of the fixed coordinate system to solve the pose and attitude of the non-cooperative target. An experimental system is built to validate the effectiveness of the algorithm. The experimental results show that the average position measurement error of the algorithm is about 10mm and the average attitude measurement error is less than 1°. The results show that the proposed method has high accuracy and efficiency.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Rectangular Natural Feature Recognition and Pose Measurement Method for Non-Cooperative Spacecraft

Wang,

Xu,

Yan

et al. 2024

Preprint

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“…Space robots are playing more and more important roles in current space operation, such as orbital services, space maintenance, space construction, and space rescue, 1,2 though, the space manipulator will be used to on-orbital operation such as capturing and repairing satellite in the future, [3][4][5][6][7] whoever, the space manipulator is constituted as the rigid bodies, which is difficult to capture the non-cooperation target in space. Therefore, more and more researchers are paying attention to the tethered space robots in recent years.…”

Section: Introductionmentioning

confidence: 99%

Coordinated formation control strategy of the rotating hub-spoke tethered formation system

Huang

Zhao

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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The hub-spoke tethered formation system (HS-TFS) is attractive in many space applications, such as multi-point measurements, providing flexible frame for solar sail and other membrane or net structures. To utilize the specific advantages of the system, such as reduction of fuel consumption, promotion of the formation stability, the HS-TFS is usually designed as a rotating system. However, the rotating motion will increase the complexity of the formation control of the HS-TFS. In this paper, the formation control of the rotating HS-TFS is investigated. First, an analytical model based on several reasonable assumptions is introduced to describe the dynamics of the rotating HS-TFS. Based on this model, two coordinated formation control strategies are proposed and described in detail, in which the tension forces of the tethers, propulsions of the sub-spacecraft, and the torque of the master-spacecraft are used as control inputs. Then a closed-loop control system is constructed to validate the proposed coordinated formation control strategies. Finally detailed numerical simulations are implemented based on the closed-loop control system. The simulation results show that the proposed coordinated control strategies are capable of assigning the operating time of the torque of the masterspacecraft and improving the efficiency of the formation control of the rotating HS-TFS.

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“…It allows the simulation of two vehicles approaching and docking in 2D or 3-DOF space which includes one rotational and two translational DOFs. More DOFs of maneuvering may be added by suspending the tested object with a multi-DOF mechanism but more massive hardware has to be added and the dynamics properties of the test system will also be inevitably altered from the true dynamics of the space manipulator accordingly [7]. In fact, such a system (see Fig.…”

Section: Introductionmentioning

confidence: 99%

Understanding the True Dynamics of a Space Manipulator from Its Testing with Air-Bearing based Support Equipment

Zhao

2015

AIAA SPACE 2015 Conference and Exposition

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A space manipulator can easily handle a large payload with a much larger mass than the manipulator itself in a 3D space. However, physical test of a long space manipulator handling a large-mass payload on the ground, even in a 2D space, is very difficult due to the gravity effect. A common approach for such testing is to use a support equipment with air-bearing pads to support the manipulator and the payload such that the robot can operate in a horizontal floor like floating in a microgravity environment. However, such a test methodology suffers a major problem: the air-bearing based support equipment is large and massive when the manipulator is long (e.g., 10 meters or longer) and/or its payload is heavy (e.g., 500 kg or heavier), which adds significant inertial loads to the robot when it maneuvers with the test system. As a result, the manipulator has to make significantly more effort than it needs for the same task in space. Moreover, the attached air-bearings along with the support structures also change the dynamics characteristics of the manipulator such as the natural frequencies, stiffness, damping as well as the performance of the robot's closed-loop control system. The problem may not be so significant when the manipulator is small (say, less than 5 meters long) but it basically invalidates the test when the manipulator is large such as the Space Station Remote Manipulator System (SSRMS). In this paper we present a study to understand the true dynamics of the tested space manipulator. In the study we developed a general model of the extra load exerted on the manipulator by air-bearing based support equipment. Understandably, modeling the support equipment is much easier and more accurate than modeling the manipulator because the former is just a simple and passive structure. Then, we use this load model to decouple the dynamics of the tested manipulator from the rest of the tested system. With such an approach, we can understand the true dynamics of the space manipulator although it has to be constrained to a massive air-bearing based support equipment for testing.

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A Review of Robotics Technologies for On-Orbit Services

Cited by 12 publications

References 182 publications

Rectangular Natural Feature Recognition and Pose Measurement Method for Non-Cooperative Spacecraft

Rectangular Natural Feature Recognition and Pose Measurement Method for Non-Cooperative Spacecraft

Coordinated formation control strategy of the rotating hub-spoke tethered formation system

Understanding the True Dynamics of a Space Manipulator from Its Testing with Air-Bearing based Support Equipment

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