Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

Fonseca, Ijar M. da; Góes, Luiz Carlos Sandoval; Seito, Narumi; Duarte, Mayara K. da Silva; Oliveira, Élcio Jeronimo de

doi:10.1016/j.actaastro.2016.12.020

Cited by 23 publications

(11 citation statements)

References 3 publications

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“…In this case, we have to transpose the rotation matrices so as to have the equations written in frame i fgbut in coordinates of i À 1 fg . For space robots, we must compute the kinematics not only of the manipulator but also for the whole spacecraft (rotational and translational kinematics) [3,4]. To do this, it is necessary to define three more frames:…”

Section: Forward Kinematics Of Manipulators and D-h Conventionhomogenmentioning

confidence: 99%

“…Space robotic manipulators are designed to implement orbital operations. There is a considerable difference regarding Earth-based manipulators, as they increase the type and number of reference systems for proper problem formulation [1][2][3][4]. The main differences with regard to Earth-based robotic manipulators are the inclusion of an Earth-centered inertial coordinate frame (ECI), besides the local vertical, local horizontal (LVLH) reference frame, and the spacecraft fixed reference frame.…”

Section: Introductionmentioning

confidence: 99%

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Kinematics for Spacecraft-Type Robotic Manipulators

Fonseca¹,

Pontuschka²,

Lima³

2019

Kinematics - Analysis and Applications

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The scope of this chapter is the study of the forward and inverse kinematics for a space robot. The main focus is to compute the position and orientation of manipulators' end-effectors relative to their platform. Such platform plays the role of workstations referred in the literature approaching ground manipulators. In this study, the method is to write the manipulator kinematics' equations as functions of the joint variables by following the Denavit-Hartenberg convention. The homogeneous transform technique is used to study the kinematics. The set of coordinate frames defined in this chapter follows the convention for frames that appears in the literature for ground robot manipulators. The kinematics related to the spacecraft attitude is added in the formulation because the manipulator studied in this chapter is type spacecraft. The objective is to provide an overview and clear understanding of the kinematics' equations for spacecraft-type manipulators. To be consistent with orbital dynamics area, the inertial, orbital, and body-fixed coordinate frames are included in this kinematics study. The forward and inverse kinematics formulations are derived. The MATLAB ® /Simulink tools are presented for the computer simulations of the forward and inverse kinematics.

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Section: Forward Kinematics Of Manipulators and D-h Conventionhomogenmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematics for Spacecraft-Type Robotic Manipulators

Fonseca¹,

Pontuschka²,

Lima³

2019

Kinematics - Analysis and Applications

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“…Zhang and Liu [12] proposed a new perspective, in which berths should be considered in the motion planning strategy of capturing targets. Da et al [13] analysed the dynamic influence of the robot manipulator's motion attitude. Yao et al [14] studied the OOS system evaluation and optimization method based on a life cycle simulation under uncertainty.…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

et al. 2020

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At present, the space station on-orbit service is still rapidly developing, and on-orbit refueling operation has not been fully realized. During the process of an on-orbit robotic refueling mission, the pipe disconnectors are artificially docked, and the problems of low efficiency and a long operation period are common. From the perspective of bionics, this paper studies the kinematics of the upper limbs in the manual docking process of the pipeline quick disconnector and analyses the redundant degrees of freedom in the manual docking process. In this paper, without changing the original structure of the quick disconnector, a five-degrees-of-freedom multifunctional end-effector imitating the human hand with a compact structure and a light weight was created, which can realize the automatic docking of the quick disconnector in the pipeline. The quick disconnector docking in the refueling system is simplified from the original manual, twohanded operation to a single-end-effector operation with a single mechanical arm. Compared with a dual-arm robot, a single-arm robot has the advantages of internal force sealing, a stable structure, a higher docking accuracy and a lower cost. The common rigid body contact collision dynamics problem is thus studied. The contact dynamics model between the ''quick disconnector and the robot end-effector'' is established by the equivalent spring damping model method. The experimental prototype was developed according to the structure of the end-effector to complete the construction of the refueling robot experimental platform. A simulation and experiment were conducted to verify the advantages and effectiveness of the structure. INDEX TERMS On-orbit servicing, robotic refueling mission, end-effector, imitating human hand, collision dynamics analysis.

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“…The system's stability is proved by selecting proper parameters to satisfy the given matrix inequalities. In [9] the flexible dynamic of robotic manipulator of on-orbit servicing satellite is discussed and the attitude stabilization controller when the manipulator is in operation is given. In [10] a state observer is designed to estimate the modal state and a full state feedback controller based on the observer is proposed.…”

Section: Introductionmentioning

confidence: 99%

Robust PID controller for flexible satellite attitude control under angular velocity and control torque constraint

2019

Asian Journal of Control

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A PID controller for flexible satellite attitude control with unknown perturbation is proposed in this paper. System inertia uncertainty, stochastic disturbance torque, and perturbation of flexible deformation are discussed, and the controller proposed in this paper is robust to these perturbations. A novel integral term is designed; hence the Lyapunov function structure is modified and the stability proof is simplified. The angular velocity constraint is discussed and a novel method to solve the angular velocity saturation issue is given. The control torque saturation issue is also taken into consideration. Stability for all conditions considered in this paper is proved by the Lyapunov method. The performance of the controller is demonstrated by numerical simulation.

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Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

Cited by 23 publications

References 3 publications

Kinematics for Spacecraft-Type Robotic Manipulators

Kinematics for Spacecraft-Type Robotic Manipulators

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

Robust PID controller for flexible satellite attitude control under angular velocity and control torque constraint

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