Optimal detumbling of defunct spacecraft using space robots

Rybus, Tomasz; Seweryn, K.; Sąsiadek, Jurek Z.

doi:10.1109/mmar.2014.6957326

Cited by 7 publications

(2 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [35], an optimal joint damping trajectory to dampen the target's relative motion is presented. Similar to [6,7,9], the authors of [54,65] made use of the target's inertial parameters to plan a detumbling trajectory that would bring the target's tumbling motion to rest in minimum time while being subjected to a torque limit at the endeffector. In [6,7,9,65], coordinated control of the servicer's base and its manipulator (i.e., [12,17]) is implemented to simultaneously track the desired end-effector detumbling trajectory and to reject the gained target's momentum as it is brought to rest.…”

Section: Ideal Scenariomentioning

confidence: 99%

Detumbling a Non-Cooperative Space Target With Unknown Inertial Parameters Using a Space Manipulator Subjected to End-Effector Force/Torque Limits

Gangapersaud¹

2021

Preprint

View full text Add to dashboard Cite

This study addresses the problem of detumbling a non-cooperative space target, such as a malfunctioning satellite, using a space robot for the purpose of performing on-orbit servicing. The space robot is denoted as the servicer and consists of a satellite base equipped with a robotic manipulator. The formulation of a detumbling control strategy must respect limits on the grasping force and torque at the servicer’s end-effector without knowledge of the target’s inertial parameters (mass, inertia tensor, location of center of mass). In the literature, prior studies have formulated detumbling strategies under the assumption of accurate knowledge of the target’s inertial parameters. However, obtaining accurate estimates of the target’s inertial parameters is difficult, and parameter uncertainty may lead to instability and violation of the end-effector force/torque limits. This study will address the problem of detumbling a noncooperative target with unknown but bounded inertial parameters subjected to force/torque limits at the servicer’s end-effector. In this study, two detumbling control strategies are presented. The first detumbling strategy is presented under the assumption that force/torque measurements at the end-effector are available. Detumbling of the target is achieved by applying a reference force/torque to the target that is designed to bring the target’s tumbling motion to rest subjected to force/torque limits. To ensure stable detumbling of the target, a robust compensator is designed based on bounds of the target’s unknown inertial parameters. Furthermore, once the detumbling process starts, in order to reduce the robust control gains, bounds on the target’s unknown inertial parameters are estimated in real-time. The resultant detumbling controller enables the servicer to detumble the target while complying with the target’s unknown residual tumbling motion. The second detumbling control strategy is developed without the need of end-effector’s force/torque measurements and takes into account magnitude constraints on servicer’s control inputs in the detumbling controller’s design. Detumbling is achieved by tracking a desired detumbling trajectory that is delineated subjected to end-effector force/torque limits and requires bounds on the target’s inertial parameters. The hyperbolic tangent function is utilized to model the magnitude constraints on the servicer’s control inputs, resulting in a system that is non-affine in its control inputs. As a result, an augmented model of the servicer is presented to allow the formulation of the detumbling controller. Using bounds on the target’s inertial parameters, robust adaptive control approach is utilized to design the detumbling controller with the backstepping technique in order to track the desired detumbling trajectory and to reject the gained target’s momentum. Numerical simulation studies were conducted for both detumbling control strategies utilizing a servicer equipped with a 7-degree-of-freedom (DOF) manipulator. The results demonstrate that both control strategies are capable of detumbling a non-cooperative target with unknown inertial parameters subjected to force/torque limits. Experiments conducted with a 3-DOF manipulator demonstrate that the design procedure utilized to delineate the desired detumbling trajectory in the second detumbling strategy respects force/torque limits at the end effector. The study is concluded with a discussion comparing the two proposed detumbling strategies by highlighting their advantages and disadvantages.

show abstract

Section: Ideal Scenariomentioning

confidence: 99%

Detumbling a Non-Cooperative Space Target With Unknown Inertial Parameters Using a Space Manipulator Subjected to End-Effector Force/Torque Limits

Gangapersaud¹

2021

Preprint

View full text Add to dashboard Cite

show abstract

“…The detumbling maneuver has also been the focus of significant attention, with minimum time formulations (Aghili, 2008 , 2009b ), sliding mode and impedance control approaches (Uyama and Narumi, 2016 ; Zhang et al, 2017 ), as well as strategies that exploit the variable inertia of the resulting multibody system to reduce its kinetic energy (Rybus et al, 2014 ) being proposed.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Virgili-Llop

Romano

2019

Front. Robot. AI

View full text Add to dashboard Cite

A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material.

show abstract

Approach and maneuver for failed spacecraft de-tumbling via space teleoperation robot system

Cheng

Liu

et al. 2021

Acta Astronautica

View full text Add to dashboard Cite

Optimal detumbling of defunct spacecraft using space robots

Cited by 7 publications

References 24 publications

Detumbling a Non-Cooperative Space Target With Unknown Inertial Parameters Using a Space Manipulator Subjected to End-Effector Force/Torque Limits

Detumbling a Non-Cooperative Space Target With Unknown Inertial Parameters Using a Space Manipulator Subjected to End-Effector Force/Torque Limits

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Approach and maneuver for failed spacecraft de-tumbling via space teleoperation robot system

Contact Info

Product

Resources

About