On the guidance, navigation and control of in-orbit space robotic missions: A survey and prospective vision

Moghaddam, Borna Monazzah; Chhabra, Robin

doi:10.1016/j.actaastro.2021.03.029

Cited by 88 publications

(21 citation statements)

References 215 publications

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“…Operating in this regime comes with the complexities associated with the GNC design of underactuated systems [42,16]. In this case, the coupled dynamics between the spacecraft and manipulator motion and the mitigation of the uncontrolled base motion are the key considerations [12,15,27]. Common control strategies consider reducing the coupled base motion during manipulator operation [3,12].…”

Section: Introductionmentioning

confidence: 99%

Singularity-Robust Full-Pose Workspace Control of Space Manipulators with Non-Zero Momentum

Rousso¹,

Chhabra²

2023

Preprint

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<p> We address the end-effector full-pose tracking control problem in free-floating space manipulators, experiencing constant non-zero linear and angular momentum. The aim is to develop an output-tracking (workspace) control law free of singularities due to parameterizing the end-effector motion and being robust against singularities of the input-output decoupling matrix (generalized Jacobian matrix). Space manipulators are modelled as open-chain multi-body systems with single- and multidegree-of-freedom joints, whose kinematics and dynamics are formulated on the Special Euclidean group SE(3). Such systems exhibit conserved (not necessarily zero) total momentum when operating in the free-floating regime, which we use to systematically reduce their dynamical equations by eliminating the base spacecraft’s motion. To avoid parameterizing the end-effector motion, we consider its full pose as the system output and develop a novel feedback linearization technique on the matrix Lie group SE(3) in the reduced phase space of the space manipulator. We then propose an intrinsic feedforward, feedback proportional-integral-derivative workspace controller involving a coordinate-free pose error function on SE(3) and velocity error on its Lie algebra. Using a Lyapunov candidate, this controller is proven to stabilize the end-effector pose to a feasible desired trajectory. The input-output decoupling matrix in the proposed control law can lose rank at some regions of the configuration space; hence, we implement a singularity-robust inverse, derived from the damped least squares method, to avoid impractical joint torques in these regions. The developed controller is implemented on a 7-degree-of-freedom manipulator onboard a spacecraft and its efficacy and robustness are demonstrated trough series of simulations. </p>

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Section: Introductionmentioning

confidence: 99%

Singularity-Robust Full-Pose Workspace Control of Space Manipulators with Non-Zero Momentum

Rousso¹,

Chhabra²

2023

Preprint

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“…1 The concepts of on-orbit servicing (OOS), miniaturization, and reusability of space assets are leading a change of paradigm in the space sector, which demands a even higher level of system autonomy and capability to react and adapt to different working conditions. 2 A typical example of such new scenarios is the case of a large carrier spacecraft with the task to release in different target orbits several passenger satellites: 3,4 at each release, mass and moment of inertia of the carrier suddenly change, with the system required to react without losses in pointing accuracy. The concept of OOS, in which a servicer spacecraft performs different tasks to prolong the lifetime of several target satellites, such as tugging, refueling, station keeping or even mechanical maintenance, requires the attitude control to be robust to a varying inertia in order to keep the system stable in all the different maneuvers: the servicer can acts alone or connected with the target, is required to perform complex grasping maneuvers to achieve connection, and it needs to handle the satellite stack even during mass transfers like refueling activities.…”

Section: Introductionmentioning

confidence: 99%

“…Space missions are increasingly becoming more elaborate and are going to require stringent performance in terms of control and robustness to disturbs and uncertainties, especially due to the presence of inherently variable systems such as robotic arms and tools 1 . The concepts of on‐orbit servicing (OOS), miniaturization, and reusability of space assets are leading a change of paradigm in the space sector, which demands a even higher level of system autonomy and capability to react and adapt to different working conditions 2 . A typical example of such new scenarios is the case of a large carrier spacecraft with the task to release in different target orbits several passenger satellites: 3,4 at each release, mass and moment of inertia of the carrier suddenly change, with the system required to react without losses in pointing accuracy.…”

Section: Introductionmentioning

confidence: 99%

Centralized/decentralized indirect robust adaptive control for spacecraft attitude and robotics

Rivolta

Lunghi

2022

Intl J Robust & Nonlinear

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The diffuse presence of robotic subsystems in new space mission concepts introduces variations and uncertainties in system mass and inertia, imposing stringent constraints to orbital and attitude control. The required performance can be achieved through several paradigms like robust or adaptive controllers and sometimes a combination of the two. In this work, a novel indirect controller, belonging to the robust-adaptive controllers class, is developed, with the core idea of requiring just one adaptive gain with consequent lower sensitivity and easier tunability. The algorithm is developed both in centralized and decentralized formulation and tested for reliability and parameter sensitivity.

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“…In this case, the coupled dynamics between the spacecraft and manipulator motions and the mitigation of the uncontrolled base motion are key considerations in the design of free-floating GNC systems [42,43]. During capture manoeuvres, it is widely suggested for a spacecraft's control system to be removed at the moment of contact between the end-effector and the target [44]. This is necessary for mitigating the potentially damaging behaviours which may be performed by the controlled servicer.…”

Section: Gnc Of Single-arm Free-floating Space Manipulatorsmentioning

confidence: 99%

“…Trajectory designs involved with capture manoeuvres (including either free-flying or free-floating systems) primarily focus on defining an end-effector's linear and angular velocity throughout the pre-capture operation, and at the grasping interface [44]. One of the primary issues in executing trajectories in a free-floating manipulator's workspace is the consequent non-zero motion of the base (due to its uncontrolled nature), causing the base's position and orientation at the grasping point not to be unique (i.e., different workspace trajectories to a target point result in different trajectories of the base) [53].…”

Section: Gnc Of Single-arm Free-floating Space Manipulatorsmentioning

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 the guidance, navigation and control of in-orbit space robotic missions: A survey and prospective vision

Cited by 88 publications

References 215 publications

Singularity-Robust Full-Pose Workspace Control of Space Manipulators with Non-Zero Momentum

Singularity-Robust Full-Pose Workspace Control of Space Manipulators with Non-Zero Momentum

Centralized/decentralized indirect robust adaptive control for spacecraft attitude and robotics

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

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