Commissioning "Dextre" for On-Orbit Operations

Oshinowo, Layi; Coleshill, Elliott; Rembala, Richard; Liu, Mengmeng; Prasad, Dr. Shivshankar

doi:10.2514/6.iac-06-b4.2.02

Cited by 2 publications

(2 citation statements)

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“…It can complete human scale delicate servicing tasks with maximum tip velocities 7.5 cm/s-2.5°/s. In the teleoperation mode, SPDM is capable of positioning its endeffector relative to a target within 0.6 cm-2.0°, while in the automatic mode it is capable of adjusting the position and orientation of its end-effector in increments of 0.2 cm or 0.1°i n any direction using Force-Moment Accommodation (FMA) control (Fulford, 1999;Aghili et al, 2001;Mukherji et al, 2001;Oshinowo et al, 2006). The capability of a space manipulator to effectively perform tasks involving contact hinges on the availability of an adequately accurate force-moment feedback.…”

Section: Capturing/contacting a Target-impedance/ Compliance Controlmentioning

confidence: 99%

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Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

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Section: Capturing/contacting a Target-impedance/ Compliance Controlmentioning

confidence: 99%

“…The Special Purpose Dexterous Manipulator (SPDM) has been extensively utilized to handle various ORUs for ISS maintenance operations ( Oshinowo et al, 2006 ). SPDM is a dual arm manipulator where each 7 degree-of-freedom arm is approximately 3.3 m long and is mounted on a single DoF body joint.…”

Section: Feedback Controlmentioning

confidence: 99%