In-orbit robotic assembly mission design and planning to construct a large space telescope

She, Yuchen; Li, Shuang; Liu, Yuanyuan; Cao, Menglong

doi:10.1117/1.jatis.6.1.017002

Cited by 11 publications

(7 citation statements)

References 26 publications

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“…This aims to compare the maximum control moments between the assembly considering space perturbations and the assembly without space perturbations, because space perturbations were not considered in many previous studies of the assembly dynamics and control [13,44]. The assembly without space perturbation can be obtained by setting r 0 = ∞ and ω 0 = 0. .…”

Section: Effects Of the Coriolis Forcementioning

confidence: 99%

Influences of space perturbations on robotic assembly process of ultra-large structures

Yang

Zhang

et al. 2023

Nonlinear Dyn

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The space assembly of two exible beams by a dual-arm space robot is a typical assembly scenario to construct ultra-large space structure. Yet, previous studies mainly focused on the assembly of small structures, neglecting the in uences of space perturbations. In this paper, two modelling methods are proposed to study the in uences of space perturbations on the space assembly process of ultra-large space structures. Firstly, a theoretical modelling method is proposed based on quasi-static hypothesis and linear structural mechanics. The theoretical model can be utilized for analytically estimating the transverse and axial distributed forces of the exible beams, structural vibrations, and the control moments of the space robot. An orbit-attitude-structure coupled simulation model is then established to validate the theoretical model and study the dynamic behaviours more accurately, using absolute nodal coordinate formulation and natural coordinate formulation. Finally, the effects of the attitude angle, orbital radius, and lengths of beams on the dynamic responses during assembly are investigated.Theoretical and simulation results show that the control moments and structural vibration amplitude increase dramatically with the length of the beams. The effects of Coriolis force and gravity gradient must be considered for ultra-large space structures during assembly, otherwise the control moments and structural vibrations would be substantially underestimated. The results are instructive to the assembly strategy design as well as modular component design of ultra-large space structures.

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Section: Effects Of the Coriolis Forcementioning

confidence: 99%

Influences of space perturbations on robotic assembly process of ultra-large structures

Yang

Zhang

et al. 2023

Nonlinear Dyn

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“…Examples of robotic assembly planning for this specific task can be found in She et al (2020) and Martinez-Moritz et al (2021). The motion planning task was divided in the latter into a global and a local layer.…”

Section: On-orbit Assemblymentioning

confidence: 99%

“…The local layer consists of a constrained path planner that plans manipulation tasks to place single parts into the assembly. Different methodologies may be adopted here, including Rapidlyexploring Random Trees (RRT) -based methods, such as RRT-Connect (Kuffner and LaValle, 2000), Constrained Bidirectional Rapidly Exploring Random Tree (CBiRRT) (Berenson et al, 2009) for sampling-based path planners, CHOMP (Ratliff et al, 2009), STOMP (Kalakrishnan et al, 2011;Martinez-Moritz et al, 2021) and Genetic Algorithms (She et al, 2020) for optimization-based path planners.…”

Section: On-orbit Assemblymentioning

confidence: 99%

“…Different works in the literature conceptually discussed the on-orbit assembly of space telescopes. The Rendezvous and Docking assembly principle have different drawbacks, including high risk of collision, high requirement for the GNC system and large fuel consumption ( She et al, 2020 ). To accomplish the task with space robots, the free-floating dynamics is typically omitted, since the parts to be assembled and the robotic arm which assembles them, are both hosted on the same spacecraft.…”

Section: Motion Planningmentioning

confidence: 99%

See 1 more Smart Citation

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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“…With the development of space robotics, the cooperative control of multi-space-robot systems (MSRSs) has a wide application prospect in various space missions, such as the construction of large space structures [1,2], space debris removal [3,4], space transportation [5], and the detection of gravitational waves in space [6,7]. As the basis for conducting above complex operations and various tasks, the maneuver guidance and formation control of MSRSs are often needed.…”

Section: Introductionmentioning

confidence: 99%

Leaderless maneuver guidance and event-triggered formation control for distributed multi-space-robot systems

Wang

Chu

et al. 2022

Nonlinear Dyn

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In this paper, the distributed displacement-based formation and leaderless maneuver guidance control problems of multi-space-robot systems are investigated by introducing event-triggered control update mechanisms. A distributed formation and leaderless maneuver guidance control framework is first constructed, which includes two parallel controllers, namely, an improved linear quadratic regulator and a distributed consensus-based formation controller. By applying this control framework, the desired formation configuration of multi-space-robot systems can be achieved and the center of leaderless formation can converge to the target point globally. Second, a pull-based event triggering mechanism is introduced to the distributed formation controller, which makes the control update independent of the events of neighboring robots, avoids unnecessary control updates, and saves the extremely limited energy of space robots. Furthermore, the potential Zeno behaviors have been excluded by proving a positive lower bound for the inter-event times. Finally, numerical simulation verifies the effectiveness of the theoretical results.

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In-orbit robotic assembly mission design and planning to construct a large space telescope

Cited by 11 publications

References 26 publications

Influences of space perturbations on robotic assembly process of ultra-large structures

Influences of space perturbations on robotic assembly process of ultra-large structures

Robotic Manipulation and Capture in Space: A Survey

Leaderless maneuver guidance and event-triggered formation control for distributed multi-space-robot systems

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