On-orbit cooperating space robotic servicers handling a passive object

Rekleitis, Georgios; Papadopoulos, Evangelos

doi:10.1109/taes.2014.130584

Cited by 35 publications

(15 citation statements)

References 35 publications

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“…In the past, transmitter failure was the most common cause of mission failure. However, in recent years the rate of on-orbit failures has exceeded the rate of launch failures for the first time [2], causing billions of dollars in losses [3]. Due to the lack of so-called on-orbit service (OOS) opportunities, parts of the malfunctioning spacecraft continue to work in a weakened state or can barely complete any work [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

et al. 2020

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At present, the space station on-orbit service is still rapidly developing, and on-orbit refueling operation has not been fully realized. During the process of an on-orbit robotic refueling mission, the pipe disconnectors are artificially docked, and the problems of low efficiency and a long operation period are common. From the perspective of bionics, this paper studies the kinematics of the upper limbs in the manual docking process of the pipeline quick disconnector and analyses the redundant degrees of freedom in the manual docking process. In this paper, without changing the original structure of the quick disconnector, a five-degrees-of-freedom multifunctional end-effector imitating the human hand with a compact structure and a light weight was created, which can realize the automatic docking of the quick disconnector in the pipeline. The quick disconnector docking in the refueling system is simplified from the original manual, twohanded operation to a single-end-effector operation with a single mechanical arm. Compared with a dual-arm robot, a single-arm robot has the advantages of internal force sealing, a stable structure, a higher docking accuracy and a lower cost. The common rigid body contact collision dynamics problem is thus studied. The contact dynamics model between the ''quick disconnector and the robot end-effector'' is established by the equivalent spring damping model method. The experimental prototype was developed according to the structure of the end-effector to complete the construction of the refueling robot experimental platform. A simulation and experiment were conducted to verify the advantages and effectiveness of the structure. INDEX TERMS On-orbit servicing, robotic refueling mission, end-effector, imitating human hand, collision dynamics analysis.

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Section: Introductionmentioning

confidence: 99%

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

et al. 2020

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“…Space robots are one of the most successful and extensively used means to achieve these goals, as demonstrated by several notable deployments and experimental missions, such as Space Station Remote Manipulator System (SSRMS) [3], Experimental Test Satellite VII (ETS-VII) [4], Front-end Robotics Enabling Near-term Demonstration (FREND) [5], and China's intelligent space robots [6]. The concept of cooperative small robotic servicers to handle large passive objects has also been studied in recent years [7][8][9]. Possible applications of space robots include inspection, assembly, maintenance, repair, and refueling [10].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning Based on Screw Theory with Consideration of the Optimal Berth Position for a Space Robot

Wang

Liao

Gong

2019

International Journal of Aerospace Engineering

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Trajectory planning is a prerequisite for the tracking control of a free-floating space robot. There are usually multiple planning objectives, such as the pose of the end-effector and the base attitude. In efforts to achieve these goals, joint variables are often taken as exclusive operable parameters, while the berth position is neglected. This paper provides a novel trajectory planning strategy that considers the berth position by applying screw theory and an optimization method. First, kinematic equations at the position level are established on the basis of the product of exponential formula and the conservation of the linear momentum of the system. Then, generalized Jacobian matrices of the base and end-effector are derived separately. According to the differential relationship, an ordinary differential equation for the base attitude is established, and it is solved by the modified Euler method. With these sufficient and necessary preconditions, a parametric optimization strategy is proposed for two trajectory planning cases: zero attitude disturbance and attitude adjustment of the base. First, the berth position is transformed into the desired position of the end-effector, and its constraints are described. Joint variables are parameterized using a sinusoidal function combined with a five-order polynomial function. Then, objective functions are constructed. Finally, a genetic algorithm with a modified mutation operator is used to solve this optimization problem. The optimal berth position and optimized trajectory are obtained synchronously. The simulation of a planar dual-link space robot demonstrates that the proposed strategy is feasible, concise, and efficient.

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“…In [6] a two dimensional problem was discussed where multiple servicers were used to manipulate a passive object. In [1], [7] and [8] the control of servicers with manipulators is discussed where it is assumed that the servicers have already captured the passive object. In [1] a simplified one-dimensional problem was studied where two servicers firmly grasped a passive body.…”

Section: Introductionmentioning

confidence: 99%

“…In [1] a simplified one-dimensional problem was studied where two servicers firmly grasped a passive body. In [1], [7] and [8] the servicers firmly grasped a passive object and a combination of ON-OFF thrusters and manipulators is used to remove the problem of limit cycles and improve the control accuracy with fuel efficiency.…”

Section: Introductionmentioning

confidence: 99%

Model predictive control for cooperative control of space robots

Kannan

Alamdari

Dentler

et al. 2017

AIP Conference Proceedings

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Abstract. The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit.

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On-orbit cooperating space robotic servicers handling a passive object

Cited by 35 publications

References 35 publications

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

Development of a Novel End-Effector for an On-Orbit Robotic Refueling Mission

Trajectory Planning Based on Screw Theory with Consideration of the Optimal Berth Position for a Space Robot

Model predictive control for cooperative control of space robots

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