Autonomous Robotic Capture of a Satellite Using Constrained Predictive Control

McCourt, Rebecca; Silva, C.W. de

doi:10.1109/tmech.2006.886246

Cited by 32 publications

(15 citation statements)

References 23 publications

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“…The results reveal that stiffness of the subsoil remained unchanged while the damping decreased with an increase in the height of the foundation as shown in Table 8. Damping ratio of the subsoil is inversely proportional to the square root of the total mass of the punching press and the foundation, as expressed in (6) [22,26], while vibration amplitudes of the frame and the slider decreased with an increase in the height of the foundation as shown in Table 8:…”

Section: Effect Of the Foundation On The Vibration Of A Punching Pressmentioning

confidence: 99%

“…During the conventional simulation of NC equipment, various software, supported by the theories of different disciplines, are adopted to establish models of electronic, hydraulic, and dynamic subsystems, making simulation research inefficient. Additionally, the separate modeling in different software results in deviation of the analysis of system integration [6,7]. Considering the effect of each subsystem on the integral whole system of the complex punching press, the multidomain modeling method assembles models from different disciplines into a large integral model [8], which greatly improves the simulation efficiency.…”

Section: Introductionmentioning

confidence: 99%

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Vibration Control of a High-Speed Precision Servo Numerically Controlled Punching Press: Multidomain Simulation and Experiments

Xia

Long

et al. 2017

Shock and Vibration

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A three-degree-of-freedom mathematical vibration model of a high-speed punching press was developed in order to explore the vibration modes of the punching press. A multidomain model of the punching press was established to predict the kinematic state during different conditions, as well as the effects of load fluctuation on the motor speed. Experimental measurements of the acceleration of the punching press were carried out. The results comparison reveals that the multidomain model is consistent with the vibration model and the experimental measurements. Modal analysis and structure modification of the punching press were conducted. The foundation at the base of the punching press was improved against excess of vibration. The effects of the dimensions of the foundation on the vibration were discussed with the aid of the multidomain model. Finally, proper foundation design, able to reduce the vibration, was obtained.

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Section: Effect Of the Foundation On The Vibration Of A Punching Pressmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Vibration Control of a High-Speed Precision Servo Numerically Controlled Punching Press: Multidomain Simulation and Experiments

Xia

Long

et al. 2017

Shock and Vibration

View full text Add to dashboard Cite

show abstract

“…A 3D-image generated by a PMD (photonic mixer device) camera was used for determination of the relative distance and orientation, as well as the motion identification of the satellite [67]. On the other hand, McCourt and Silva used a model predictive control in the space manipulator to deal with the problem of the unknown dynamics of a target satellite [68].…”

Section: Cbm Docking Interface (Details On Arrow "A")mentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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“…Aghihi [11] proposed an optimal estimation and planning method for capturing tumbling objects. Mccourt and Silva [12] proposed a constrained predictive control strategy for capturing a spinning simulated satellite. Huang et al [13] proposed a spacecraft attitude takeover control scheme for stabilizing graspable objects in the post-grasping phase.…”

Section: Introductionmentioning

confidence: 99%

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

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Capture and removal of space debris is challenging in robotic on-orbit servicing (OOS) activities. A large portion of space debris does not possess any graspable features, which makes conventional grippers inapplicable. To handle such non-graspable objects, a space robotic capture system is presented. A dual-arm space robot simulator that has the advantages of miniaturization and scalability is designed for ground tests. Inspired by robotic caging, we propose a novel capture method that uses a series of hollow-shaped end-effector pairs to cage the antipodal pairs of non-graspable objects. To apply the caging-pair method steadily, space robots need exerting a squeezing action on objects, which can be characterized by the motion and force manipulation of two robotic arms in the assigned directions. Based on the velocity and force manipulability transmission ratios, a caging compatibility index is proposed to describe the capturing ability in this manner. Via the optimization of the desired caging compatibility index, an effective algorithm is proposed to plan near-optimal joint configurations for pre-grasping cages. Finally, both simulation studies and experimental tests are conducted to evaluate the performance of the proposed capture method. Index Terms-Non-graspable objects, space robot simulator, caging-pair method, caging compatibility index. R ! ! q q w J v J J Mv k J T Mv E k k k = t k J

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Autonomous Robotic Capture of a Satellite Using Constrained Predictive Control

Cited by 32 publications

References 23 publications

Vibration Control of a High-Speed Precision Servo Numerically Controlled Punching Press: Multidomain Simulation and Experiments

Vibration Control of a High-Speed Precision Servo Numerically Controlled Punching Press: Multidomain Simulation and Experiments

A Review of Robotics Technologies for On-Orbit Services

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

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