On-orbit servicing

Stoll, Enrico; Letschnik, Jürgen; Walter, Ulrich; Artigas, Jordi; Kremer, Philipp; Preusche, Carsten; Hirzinger, Gerd

doi:10.1109/mra.2009.934819

Cited by 69 publications

(16 citation statements)

References 6 publications

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“…More complex task consists of these four types of typical tasks [19][20][21][22]. In this paper, "transfer without load" task is used as an example to illustrate the realization of control method of operational reliability.…”

Section: Application Of Control Methodsmentioning

confidence: 99%

Research on Control Method Based on Real-Time Operational Reliability Evaluation for Space Manipulator

Wang

Gao

Jia

et al. 2014

Advances in Mechanical Engineering

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A control method based on real-time operational reliability evaluation for space manipulator is presented for improving the success rate of a manipulator during the execution of a task. In this paper, a method for quantitative analysis of operational reliability is given when manipulator is executing a specified task; then a control model which could control the quantitative operational reliability is built. First, the control process is described by using a state space equation. Second, process parameters are estimated in real time using Bayesian method. Third, the expression of the system's real-time operational reliability is deduced based on the state space equation and process parameters which are estimated using Bayesian method. Finally, a control variable regulation strategy which considers the cost of control is given based on the Theory of Statistical Process Control. It is shown via simulations that this method effectively improves the operational reliability of space manipulator control system.

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Section: Application Of Control Methodsmentioning

confidence: 99%

Research on Control Method Based on Real-Time Operational Reliability Evaluation for Space Manipulator

Wang

Gao

Jia

et al. 2014

Advances in Mechanical Engineering

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“…Recently, much attention has been paid to the unmanned on-orbit servicing (OOS) technology [1] because of its merit of substituting the astronauts to execute the extra-vehicular activities (EVA). Space robots are regarded as the most promising technology for OOS missions, such as inspecting the environment, repairing and maintaining satellites, and cleaning orbital debris [2].…”

Section: Introductionmentioning

confidence: 99%

Kinematic-Dynamic Analysis of the Cam-Worm Mechanism for Humanoid Robots Shrug

Penčić

Čavić

Rackov

et al. 2018

New Advances in Mechanism and Machine Science

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Although many motion planning strategies for missions involving space robots capturing floating targets can be found in the literature, relatively little has discussed how to select the berth position where the spacecraft base hovers. In fact, the berth position is a flexible and controllable factor, and selecting a suitable berth position has a great impact on improving the efficiency of motion planning in the capture mission. Therefore, to make full use of the manoeuvrability of the space robot, this paper proposes a new viewpoint that utilizes the base berth position as an optimizable parameter to formulate a more comprehensive and effective motion planning strategy. Considering the dynamic coupling, the dynamic singularities, and the physical limitations of space robots, a unified motion planning framework based on the forward kinematics and parameter optimization technique is developed to convert the planning problem into the parameter optimization problem. For getting rid of the strict grasping position constraints in the capture mission, a new conception of grasping area is proposed to greatly simplify the difficulty of the motion planning. Furthermore, by utilizing the penalty function method, a new concise objective function is constructed. Here, the intelligent algorithm, Particle Swarm Optimization (PSO), is worked as solver to determine the free parameters. Two capturing cases, i.e., capturing a two-dimensional (2D) planar target and capturing a three-dimensional (3D) spatial target, are studied under this framework. The corresponding simulation results demonstrate that the proposed method is more efficient and effective for planning the capture missions.

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“…In many space tasks (e.g., capture and maintenance of a tumbling/failed spacecraft), it would be dangerous if relying on extra-vehicular activities (EVA) performed by astronauts. A much safer strategy is to use robot manipulators, and in fact they are now playing a more and more important role in space exploration (see, e.g., [1]- [4]). The base of the manipulator (i.e., the spacecraft) in space is usually not fixed, and the system consisting of the manipulator and the spacecraft is referred to as the space manipulator in the literature.…”

Section: Introductionmentioning

confidence: 99%

Adaptive zero reaction motion control for free-floating space manipulators

Wang

Zhang

et al. 2016

IEEE Trans. Aerosp. Electron. Syst.

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This paper investigates adaptive zero reaction motion control for free-floating space manipulators with uncertain kinematics and dynamics. The challenge in deriving the adaptive reaction null-space (RNS) based control scheme is that it is difficult to obtain a linear expression, which is the basis of the adaptive control. The main contribution of this paper is that we skillfully obtain such a linear expression, based on which, an adaptive version of the RNS-based controller (referred to as the adaptive zero reaction motion controller in the sequel) is developed at the velocity level, taking into account both the kinematic and dynamic uncertainties. It is shown that the proposed controller achieves both the spacecraft attitude regulation and end-effector trajectory tracking. The performance of the proposed adaptive controller is shown by numerical simulations with a planar 3-DOF (degree-of-freedom) space manipulator. Index TermsReaction null-space, adaptive control, uncertain kinematics and dynamics, free-floating space manipulator. is a qualified approach to handle parametric uncertainties [33].Among the control modes of space manipulators, free-floating space manipulators (FFSM) have their potential advantages, e.g., non-renewable fuel on the spacecraft can be saved and the safety of close-range manipulation can DRAFT 2 be ensured [8]. It is known that in a free-floating space manipulator, the motion of the spacecraft will evolve under the dynamic reaction due to that of the manipulator, and the evolution of the whole system is governed by the principle of momentum conservation. For the end-effector tracking problem without consideration of the spacecraft attitude, many adaptive control algorithms have been proposed (e.g., [6], [7]). Specifically, the tracking objective is realized by the prediction error based approach in [7] with the uncertainties of both the kinematics and dynamics being taken into consideration. However, in practice the spacecraft attitude maintenance is a major concern since the communication with the Earth can be carried out only when the spacecraft antenna points to the Earth (guaranteed by the attitude maintenance control) [9]. Hence, joint motion algorithms for space manipulators without reaction to the spacecraft are highly preferred. On the other hand, the manipulator end-effector is usually required to track some trajectory in Cartesian space when executing On-orbit servicing (OOS). Thus, it is meaningful to realize coordinated spacecraft/manipulator motion control.Many researchers have studied coordination control of a manipulator and its free-floating base. Vafa and Dubowsky proposed joint cyclic motion algorithm so that the spacecraft orientation is maintained [10]. Nakamura and Mukherjee presented an algorithm to achieve the regulation of both the spacecraft attitude and the manipulator joint angles simultaneously, where the stability of the system is analyzed by the Lyapunov method [11]. The motion planning for a system of coupled rigid bodies is investigated in [12], which is c...

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On-orbit servicing

Cited by 69 publications

References 6 publications

Research on Control Method Based on Real-Time Operational Reliability Evaluation for Space Manipulator

Research on Control Method Based on Real-Time Operational Reliability Evaluation for Space Manipulator

Kinematic-Dynamic Analysis of the Cam-Worm Mechanism for Humanoid Robots Shrug

Adaptive zero reaction motion control for free-floating space manipulators

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