Autonomous capture of a tumbling satellite

Rouleau, Guy; Rekleitis, Ioannis; L'Archevêque, Régent; Martin, Eric; Parsa, K.; Dupuis, Érick

doi:10.1109/robot.2006.1642292

Cited by 17 publications

(7 citation statements)

References 22 publications

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“…[1][2][3][4][5] In view of the above-mentioned facts, an increase in the number and the capacity of robot applied in space explorations will be a foregone conclusion in the coming future. 6,7 Free-floating space robot exhibits some special characteristics due to the dynamic coupling between the space manipulators and the spacecraft (base). Therefore, particular modeling, trajectory planning and control techniques have to be developed to cope with the dynamic coupling issue of free-floating space robot.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Manipulability Analysis of Multi-Arm Space Robot

2020

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SUMMARY The dynamic manipulability of a manipulator refers to the capacity to generate accelerations given the joint torques, which is an important indicator for motion planning and control. In this paper, the dynamic manipulability analysis is extended to the multi-arm space robot, and further to the closed-loop system composed of the space robot and the captured target. According to the dynamic equations, the relation between the joint torques and the end-effector accelerations in the open-loop space robot and that between the joint torques and the target accelerations in the closed-loop system are derived. On this basis, the dynamic manipulability factor and dynamic manipulability ellipsoid are proposed as two tools for the dynamic manipulability measure, where the effects of the bias acceleration are considered. The influences of dynamic parameters, link lengths, joint variables, and velocities on the dynamic manipulability measure are mainly studied.

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Section: Introductionmentioning

confidence: 99%

Dynamic Manipulability Analysis of Multi-Arm Space Robot

2020

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“…Various HIL simulators for space robots were surveyed in [9]. HIL simulators for space robots have been developed mainly to simulate the capture of space targets such as satellites [10][11][12]. However most HIL simulators for space robots have used conventional serial robots to reproduce the movement of the space target.…”

Section: Introductionmentioning

confidence: 99%

Hardware-in-the-loop simulation of massive-payload manipulation on orbit

et al. 2018

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This paper describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a masterslave teleoperation system. The main problems in teleoperating a space robot arm from the earth to manipulate a massive payload are communication delay, unexpected excessive force generated between the slave arm and the payload, and geometric/dynamic modeling error. In order to overcome those problems, a teleoperation system using mixed force and motion commands is discussed. The teleoperation system is verified by performing hardware-in-theloop simulations.

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“…Chaumette and Hutchinson described the basic approaches and advanced techniques of visual servoing in [ 26 , 27 ] and the performance and stability issues of the two visual servoing schemes were discussed. The visual servoing techniques have also been approved in space robot engineering by several scholars as reported in [ 28 , 29 , 30 , 31 ].…”

Section: Introductionmentioning

confidence: 99%

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras

Wang

Liu

2016

Sensors

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Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme.

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Autonomous capture of a tumbling satellite

Cited by 17 publications

References 22 publications

Dynamic Manipulability Analysis of Multi-Arm Space Robot

Dynamic Manipulability Analysis of Multi-Arm Space Robot

Hardware-in-the-loop simulation of massive-payload manipulation on orbit

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras

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