On-Orbit Servicing to GEO satellite using Dual Arm Free-flying Space Robot

Qiu, Yue; Guo, Bibo; Xue, Lijun; Liang, Bin; Cheng, Li

doi:10.1109/robio.2009.5420465

Cited by 6 publications

(7 citation statements)

References 9 publications

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“…12,13 The robotics and sensing is the key technology of capturing satellite. In the robotic missions phase, 14 depending on robotics, 15 capturing and locking the apogee engine nozzle by a capturing device is an effective method to capture a non-cooperative satellite without special interface installed. 16,17 This paper will discuss the pose measurement of apogee nozzle when the berthing servicing satellite is capturing non-cooperative satellite by a capturing device installed in a space robot.…”

Section: Introductionmentioning

confidence: 99%

“…Laser radar detection range is 2.5 km with lambertian surface and greater than 10 km with 7 mm retro reflector, which is developed by California Institute of Technology. 18 In the phase of robotic mission (0.5-2 m), 14 visual sensor is used to measure the non-cooperative satellite. For example, DLR developed a visual servo system to measure the pose of nozzle in a certain distance from it.…”

Section: Introductionmentioning

confidence: 99%

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Pose measurement of nozzle based on laser range finders for capturing satellite

Sun

Liu

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part G:

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Sensors system is considered as one of the most indispensable devices to the mission of capturing a satellite for on-orbit servicing in the space. In this paper, in order to measure the pose of nozzle, six laser range finders are installed in the capturing nozzle device for entering into and capturing nozzle, and a Geometric Axis Approximation (GAA) method is proposed to estimate the pose of satellite nozzle. Six laser range finders are arranged in the configuration of emission radiated at two planes of top and bottom. The pose measurement system is composed of the six laser range finders, applicable for real-time measurement of the ranges from inner surface of nozzle. Based on the properties of nozzle shape and finders arrangement, the GAA method is used to estimate the pose of nozzle by a connecting line between two centers of circles in the top and bottom planes. In the pose estimation of GAA method, solving the nonlinear transcendental equations can be avoided and a simple explicit model is built. Therefore, the GAA method is suitable for real time measurement. In this paper, the theoretical error of GAA method is analyzed, and in the capturing nozzle experiment system, the experiments of pose measurement are carried out. The results of experiments prove the efficiency of GAA method in pose estimation to nozzle based on laser range finders.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Pose measurement of nozzle based on laser range finders for capturing satellite

Sun

Liu

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…Tasks such as laundry folding (Maitin-Shepard et al, 2010), dish-washing (Asfour et al, 2006) and cooking (Zhai et al, 2012) have been investigated in a domestic setting. While in industrial environments, dual-arm systems have been used for automotive parts assembly (Park et al, 2006), in addition to satellite servicing within the field of space exploration (Qiu et al, 2009; Xu et al, 2012). This serves as a motivation to develop a novel local motion planning algorithm for dual-arm systems, such as the humanoid robots mentioned above.…”

Section: Introductionmentioning

confidence: 99%

Improved APF strategies for dual-arm local motion planning

Byrne

Naeem

Ferguson

2014

Transactions of the Institute of Measurement and Control

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Manipulator motion planning is a classic problem in robotics, with a number of complete solutions available for their motion in controlled (industrial) environments. Due to recent technological advances in the field of robotics, there has been a significant development of more complex robots with high fidelity sensors and more computational power. One such example has been a rise in the production of humanoid robots equipped with dual-arm manipulators which require complex motion planning algorithms. Also, the technological advances have resulted in a shift from using manipulators in strictly controlled environments, to investigating the deployment of manipulators in dynamic or unknown environments. As a result, a greater emphasis has been put on the development of local motion planners, which can provide real-time solutions to these problems. Artificial Potential Fields (APF) is one such popular local motion planning technique, which can be applied to manipulator motion planning, however, the basic algorithm is severely prone to local minima problems. Here, two modified APF-based strategies for solving the dual-arm motion planning task in unknown environments are proposed. Both techniques make use of configuration sampling and subgoal selection to assist the APF in avoiding these local minima scenarios.Extensive simulation results are presented to validate the efficacy of the proposed methodology.

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“…Included in the mission design are considerations on the mission sequencing and the transfer trajectory for maximizing the revenue from fees and minimizing revenue penalties for late service. Additional servicing mission designs specifically for GEO satellites have been analyzed in [14,15,16] due to the popularity of this orbital region. Moreover, [17] considers a single servicing satellite performing a multi-target refuelling mission in LEO, where all target satellites belong to the same circular orbit.…”

Section: On-orbit Servicingmentioning

confidence: 99%

“…Substituting q q q from the reduced equations of motion in (5. 16), including the matrix E E E (a function of the system momentum), into (5.43),…”

Section: Non-zero Momentum Systemmentioning

confidence: 99%

Workspace Control of Free-Floating Space Manipulators for Implementation in a Novel On-Orbit Servicing Mission Architecture

Rousso¹

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An industrialized On-Orbit Servicing (OOS) mission architecture is proposed in this thesis which signifies the role of space manipulators in performing OOS missions. This mission architecture summarizes a procedure for OOS mission design based on a series of multi-objective optimization problems. To enhance proximity operations, it is concluded that the existence of an output tracking control system for space manipulators is beneficial. This thesis develops an output tracking controller to control the end-effector pose of an N-link free-floating space manipulator, with non-zero momentum. We employ feedback linearization on the Lie algebra of the Special Euclidean group SE(3) to remove the nonlinear influence from the system's dynamics and momentum in the controlled end-effector motion. Space manipulators are modelled as open-chain rigid multi-body systems, connected by either single or multi degree of freedom joints. The dynamics and kinematics of free-floating space manipulators are formulated on SE(3) using the exponential parameterization of screw motions. Multi-degree of freedom joints are modelled as the combination of the joints' individual exponential screw motion mappings to describe their motions as homogeneous transformations. The free-floating systems' equations of motion are obtained through an Euler-Lagrange derivation and decoupled into the base and manipulator motions. The conservation of linear and angular momentum is then considered as an affine nonholonomic constraint to the system, allowing for the dynamic reduction of a space manipulator system with conserved non-zero momentum. Due to the system's free-floating nature, the equations of motion are restricted to the manipulator's joint space which defines the region of controlled states.Two control cases are considered in this thesis, the first involving control over the output's linear motion and the second considering control over the end-effector pose. The first control case performs feedback linearization on R 3 where the resulting linear end-effector motion is controlled by a classical PID controller defined to impart a critically damped response in the error dynamics. For full pose control, feedback linearization is employed on se(3) for subsequent control using a modified feedforward, feedback PID control structure I first and foremost would like to extend my significant gratitude to my supervisor Dr. Robin Chhabra for providing me with constant support and the wonderful research experience. Aside from the tremendous technical insight and knowledge you have shared with me, you have also been a figure of compassion, perseverance and professionalism for which I very much appreciate. It has been a pleasure to conduct my research under your supervision. I would also like to acknowledge my colleagues in the ASRoM lab who have given their support and feedback in my research and have shared their friendship.I cannot describe the appreciation and love I have for my mom, Maria, my dad, Gilles, and my brother, Chris. To my parents in particular, th...

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On-Orbit Servicing to GEO satellite using Dual Arm Free-flying Space Robot

Cited by 6 publications

References 9 publications

Pose measurement of nozzle based on laser range finders for capturing satellite

Pose measurement of nozzle based on laser range finders for capturing satellite

Improved APF strategies for dual-arm local motion planning

Workspace Control of Free-Floating Space Manipulators for Implementation in a Novel On-Orbit Servicing Mission Architecture

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