Contact Dynamics and Control of a Space Manipulator Capturing a Rotating Object

Wu, Shuang; Mou, Fangli; Ma, Ou

doi:10.2514/6.2017-1048

Cited by 7 publications

(4 citation statements)

References 12 publications

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“…Grappling is dominated by dynamic interactions, and also requires machine vision or some other form of tracking Strube et al (2012) . Admittance control has been proposed and tested as an appropriate control scheme for robotic satellite capture Wu et al (2017) . The efficacy of our controller for capture is currently being experimentally tested with air bearings in a 3-DoF (x-y translation and z rotation) emulation of zero gravity.…”

Section: Methodsmentioning

confidence: 99%

Compliant robotic behaviors for satellite servicing

Cressman,

Pokharna,

Newman

2023

Front. Robot. AI

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The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

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Section: Methodsmentioning

confidence: 99%

Compliant robotic behaviors for satellite servicing

Cressman,

Pokharna,

Newman

2023

Front. Robot. AI

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“…Although some researchers have paid attention to the importance of contact control and performed various in-orbit contact dynamics analyses since the 90s’ ( Ma, 1995 ), most control studies ignore the control of the contact force itself, as the contact dynamics is highly nonlinear and hard to model and control. Recently, hybrid impedance controllers for the capture and control of a rotating object by a free-floating space manipulator ( Wu et al, 2017 ; Mou et al, 2018a ) have been proposed.…”

Section: Feedback Controlmentioning

confidence: 99%

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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“…In another approach, based on a hybrid control scheme with damping and attitude tracking controllers, only the kinematic information of the space robot is employed as the control feedback, which can be considered as an advantage over the classical impedance control (Liu et al, 2020b). Wu et al (2017) proposed a combination of admittance control method with resolved motion rate control. This approach allows to reduce the relative velocity at the contact spots and increase the compliance of the manipulator during contact.…”

Section: Introductionmentioning

confidence: 99%

Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator

Dyba,

Rybus,

Wojtunik

et al. 2023

Artificial Satellites

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In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces between the manipulator end-effector and the elements of the target object will occur in the grasping phase. In this paper, an active 6 Degrees of Freedom (DoF) force/torque control method for manipulator mounted on a free-floating servicing satellite is proposed. The main aim of the presented method is to balance the relation between end-effector position and force along each direction in the Cartesian space. The control law is based on the Dynamic Jacobian, which takes into account the influence of the manipulator motion on the state of the servicing satellite. The proposed approach is validated in numerical simulations with a simplified model of contact. Comparison with the classical Cartesian control shows that the active 6 DoF force/torque control method allows to obtain better positioning accuracy of the end-effector and lower control torques in manipulator joints in the presence of external forces.

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Contact Dynamics and Control of a Space Manipulator Capturing a Rotating Object

Cited by 7 publications

References 12 publications

Compliant robotic behaviors for satellite servicing

Compliant robotic behaviors for satellite servicing

Robotic Manipulation and Capture in Space: A Survey

Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator

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