Kinematic Indices of rotation-floating space robots for on-orbit servicing

Abstract

There is a growing need for space and in-orbit operations that would require use of advance robotic systems. The robotics systems could be used in debris removal from orbits, as well as, in on-orbit servicing activities. This paper is addressing design and control problems related to autonomous spacecraft-manipulator system for space operation. The dynamics equations for rotation floating manipulator were introduced using Lagrange approach with additional states representing the kinetic moment exchange actuators. In this paper, a serial-link manipulator with multi degree of freedoms mounted on the satellite platform was used. For detailed analysis of base motion and manipulability of the end effector, the special indices were introduced. Simulation examples to illustrate kinematic indices were shown with physical parameters for a microsatellite from Myriade series equipped with a robotic arm.

Control of rotation-floating space robots with flexible appendages for on-orbit servicing

“…In this paper, the general tools for a common control of the base and manipulator actuators are developed to achieve high-precision manipulator control for on-orbit assembly scenarios in presence of vibration disturbances and system variations. The common control, motivated by our previous work on system analysis [13], allows to improve the control performances with a better use of actuators. By detailing the rigid-flexible dynamics of the spacecraft, the disturbances are tackled in the feedback linearization with a better efficiency than with a classical unknown disturbance observer.…”

“…Controlling the manipulator capitalizing on the benefits of kinetic moment exchange devices has raised an interest to deal with the manipulation of relatively high mass and inertia such as in capture or deployment scenarios. Through kinematic indices, controlling the spacecraft attitude while controlling the manipulator allows to increase its manipulability [13]. Combining reaction wheels and control moment gyroscopes has been studied to maintain the satellite platform fixed during manipulator motions [14].…”

“…This paper aims at developing the common control of the spacecraft base and manipulator under structural disturbances for on-orbit deployment applications. An interest to develop a common control is highlighted when considering the system momentum distribution for different manipulator configurations [13]. This paper contribution resides in the integration of the flexible dynamics to the rigid dynamics, allowing to develop an extended state observer to improve the control performances, instead of an unknown disturbance observer for a rigid system [6].…”

“…The dynamics of a rigid multi-body system with no external forces applied to it, can be expressed as in [13]:…”

Space robot motion planning in the presence of nonconserved linear and angular momenta

“…Other approaches in which one arm of a dual-arm space robot system was used to counteract the disturbance induced by the motion of the other arm on the satellite can be found in [15][16][17]. In [18] the equations of motion of a rotation floating space robot were modified through adding new states representing the kinetic moment exchange. However, these studies focus on the situation where the linear and angular momenta of the robot system are conserved and are equal to zero.…”