Approach and Capture for Autonomous Rendezvous and Docking

Timmons, K.K.; Ringelberg, John

doi:10.1109/aero.2008.4526515

Cited by 5 publications

(4 citation statements)

References 3 publications

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“…Among them, docking ring is often given preference to other parts, as the objective to be observed and captured because of their simple geometrical characteristics and adequate structural strength. 10,11 As instantaneous momentum exchange is inevitable during capturing action, capturing the ring by two manipulators is superior to one manipulator because of the following aspects, for example, less impact suffered by each manipulator, more stable combination structure, more stationary angular momentum redistribution procedure etc. 12 The optimal base placement and arm configuration can be found for a dual-arm space robot grasping a tumbling target.…”

Section: Introductionmentioning

confidence: 99%

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A collision-free visual servoing method for two space manipulators capturing tumbling satellites

Yang

Wei

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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A novel visual servoing method is proposed to synchronously capture a malfunctional satellite’s docking ring by two space manipulators. Due to the lack of conspicuous visual marks, structured light is implemented to estimate the ring’s pose. To ensure the capturing process’s security, two aspects are investigated. Spatially, capturing target points for two manipulators are planned together by considering the chaser’s orientation. As a consequence, collision risk between two manipulators is eliminated. Temporally, by adding duration parameters in trajectory generation algorithm, capturing synchronism for two manipulators is guaranteed. Experimental results show that, by the proposed method, a tumbling target was successfully captured by two space manipulators. Compared to existing methods, the collision risk between two manipulators is thoroughly eliminated and the capturing synchronism is improved remarkably.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A collision-free visual servoing method for two space manipulators capturing tumbling satellites

Yang

Wei

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…With respect to the wire rope folding capture mechanism, [19] analyzed the theoretical capture area of the device via a mapping method based on the angular arrangement of the capture rope. The capture envelope performance for both active and passive vehicles and stacks of varying masses was studied in [20]. The tolerance capacity of the trefoil-shaped capture system is predicted by the trajectory of the grapple finger in [21].…”

Section: Introductionmentioning

confidence: 99%

Analysis Method of the Capture Tolerance Capability for an Orthogonally Distributed Satellite Capture Device

Wang

Xie

et al. 2019

IEEE Access

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In this paper, an analysis method is proposed to determine capture tolerance capability of an orthogonal distributed satellite capture device that exhibits characteristics, including modularization, miniaturization, extensibility, and peripheral layout. The verifiable limit poses of the satellite are obtained when the pose error of the satellite reaches the boundary of the tolerance domain of the capture device. A dynamic model of a body combined with a satellite and robotic arm, and a contact dynamic model between the combined body and the capture device are established to lay the foundation for the capture determination of satellites in limit poses. A pose-iteration method is used to predict the pose trajectory of the satellite during the capture process, and the results of the satellite capture in the limit poses are obtained. The tolerance capability of the capture device is obtained on verifying the success or failure of the capturing satellite in limit poses. The tolerance capability of an example is analyzed by utilizing the proposed analysis method and is tested via simulation software. With respect to the four typical limit poses in the tolerance domain, the simulation results indicate that the capture device successfully captures the satellite. The results reveal the accuracy of the obtained tolerance and also validate the effectiveness of the proposed tolerance analysis method. The contact dynamics model is imported into the method of tolerance capability analysis to realize the accurate calculation of the time-varying dynamic tolerance capability of the capture device.INDEX TERMS Orthogonally distributed, capture device, tolerance capability, pose iteration method.

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“…This may be insecurely handled by traditional automated docking algorithms during close proximity operation. So high-fidelity dynamical model is particularly important to improve reliability and success rate for RD missions [5,6] .…”

Section: Introductionmentioning

confidence: 99%

Simulation of rendezvous and docking between service spacecraft and non-cooperative target with MATLAB-Simulink and STK

Chen

Geng

2014

Proceeding of the 11th World Congress on Intelligent Control and Automation

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A mathematical simulation method is presented to demonstrate proximity operation of rendezvous by utilizing MATLAB-Simulink and Satellite Tool Kit (STK). Relative position and attitude coupled dynamic model is established with kinematic and dynamic coupled effect of relative rotation on relative translation. It's used to illustrate relative motion between docking port on tumbling non-cooperative target spacecraft (T) subjected to external disturbances and another docking port on service spacecraft (S). It is common for spacecraft systems to be modeled with MATLAB-Simulink and STK for the sake of improving data precision and reliability of the numerical simulation. A versatile MATLAB-STK interface is adapted to propagate requisite parameters from MATLAB to STK and save calculation data from STK to MATLAB workspace. Moreover, an animation scenario is built for describing the whole proximity process vividly. Simulation results demonstrate high precision and authenticity of the proposed coupled relative motion model and high efficiency of MATLAB-STK interface is proved.

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Approach and Capture for Autonomous Rendezvous and Docking

Cited by 5 publications

References 3 publications

A collision-free visual servoing method for two space manipulators capturing tumbling satellites

A collision-free visual servoing method for two space manipulators capturing tumbling satellites

Analysis Method of the Capture Tolerance Capability for an Orthogonally Distributed Satellite Capture Device

Simulation of rendezvous and docking between service spacecraft and non-cooperative target with MATLAB-Simulink and STK

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