Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

Liu, Xiaofeng; Zhang, Xiao-Yu; Chen, P. C.; Cai, Guo‐Ping

doi:10.1109/access.2020.2980335

Cited by 5 publications

(3 citation statements)

References 23 publications

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“…In the impedance control approach proposed by Nakanishi and Yoshida (2006), the end-effector of the manipulator is controlled like a springmass-damper system fixed at a given point in the inertial frame in spite of the reactive motion of the servicing satellite. 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.…”

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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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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“…It is used to make the best decisions regarding a process that uses sequential steps. This method is effective because it learns from interacting and existing in the environment with very little prior knowledge, making it appropriate for capturing targets that move irregularly [5]. This also allows DRL to be useful for a wide variety of capture missions.…”

Section: Introductionmentioning

confidence: 99%

Space Manipulator Collision Avoidance Using a Deep Reinforcement Learning Control

Blaise,

Bazzocchi

2023

Aerospace

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Recent efforts in on-orbit servicing, manufacturing, and debris removal have accentuated some of the challenges related to close-proximity space manipulation. Orbital debris threatens future space endeavors driving active removal missions. Additionally, refueling missions have become increasingly viable to prolong satellite life and mitigate future debris generation. The ability to capture cooperative and non-cooperative spacecraft is an essential step for refueling or removal missions. In close-proximity capture, collision avoidance remains a challenge during trajectory planning for space manipulators. In this research, a deep reinforcement learning control approach is applied to a three-degrees-of-freedom manipulator to capture space objects and avoid collisions. This approach is investigated in both free-flying and free-floating scenarios, where the target object is either cooperative or non-cooperative. A deep reinforcement learning controller is trained for each scenario to effectively reach a target capture location on a simulated spacecraft model while avoiding collisions. Collisions between the base spacecraft and the target spacecraft are avoided in the planned manipulator trajectories. The trained model is tested for each scenario and the results for the manipulator and base motion are detailed and discussed.

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“…Nishida et al [23][24][25][26] studied the dynamics of capturing space debris by a rigid space robot, and some research results about capturing strategy were achieved. Liu et al [27], Liu et al [28,29], and Stolfi et al [30,31] studied the control problem of the capture of a larger tumbling object by multi rigid robot arms. Zarafshan et al [32,33] studied the control problem of cooperative object manipulation by a rigid-flexible arm.…”

Section: Introductionmentioning

confidence: 99%

Capturing a Space Target Using a Flexible Space Robot

et al. 2022

Self Cite

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Capturing space targets by space robots is significant for on-orbit service and is a challenging research topic nowadays. This paper focuses on the dynamics and control of capturing a non-cooperative space target by a space robot with a long flexible manipulator. Firstly, the dynamic equation of the flexible space robot is given. The Hertz contact model is used to describe the contact force between the robot and the target. Secondly, an active compliance controller is designed to reduce the capture impact on the robot. Finally, the capture impact on the whole system is analyzed in detail in four scenarios: the combination of two kinds of movement forms and two kinds of relative positions of the robot and the target before capturing. Simulation results indicate that the capturing operation may cause complicated dynamic behaviors such as the vibration of elastic links and the continuous collision of the target. Moreover, the results show that the control method effectively offsets the capture impact on the space robot system. In general, this work lays a theoretical foundation for further study of the dynamic phenomena of the capture process.

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Hybrid Control Scheme for Grasping a Non-Cooperative Tumbling Satellite

Cited by 5 publications

References 23 publications

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

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

Space Manipulator Collision Avoidance Using a Deep Reinforcement Learning Control

Capturing a Space Target Using a Flexible Space Robot

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