Reaction torque control of redundant space robotic systems for orbital maintenance and simulated microgravity tests

Cocuzza, Silvio; Pretto, Isacco; Debei, S.

doi:10.1016/j.actaastro.2009.05.007

Cited by 19 publications

(16 citation statements)

References 25 publications

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“…A closed-form Least Squares problem with Equality constraints (LSE)[22] solution can beLi and Yan. Int J Astronaut Aeronautical Eng 2019, 4:023 Citation: Li M, Yan X (2019) Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing.…”

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confidence: 99%

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Li¹,

Xiu-Tian²

2019

Int J Astronaut Aeronautical Eng

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There are a number of challenges in space exploration missions and a growing challenge is the economic and efficient removal of space debris. A number of methods have been studied in literature to remove space debris which increase rapidly. This paper presents a novel method for capturing a targeted space debris in space using a robot with redundant degrees of freedom enabled with the assistance of haptic guidance. The proposed method features transferring a null reaction torque to the base spacecraft during the operation. The robot and the endeffector is controlled and manipulated by an operator with the assistance of a haptic guidance based controller that makes the position and velocity errors converge to zero before reaching the target at a desired velocity. The proposed method is demonstrated by means of dynamic and graphic simulations using a haptic interface to drive the robot. These simulations have shown a satisfactory performance in capturing the target space debris by showing a spacecraft can be maintained stable as null reaction torque is transferred during the rendezvous and interaction between the robot and the space debris. The haptic guidance method implemented in a dynamic controller enabled an operator to perform planned tasks, whilst it still allowed a full control of the robotic manipulator by the human operator. This shows great advantages comparing to the current approaches for capturing target, where haptic assistance is not introduced or the path control is not dynamic.

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mentioning

confidence: 99%

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Li¹,

Xiu-Tian²

2019

Int J Astronaut Aeronautical Eng

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“…The slide supports compensate gravity and minimise friction with ice thanks to a micro ball transfer unit ( Figure VI-1). A similar concept was developed at the Cisas laboratory to study the performances of a free flying robot moving on a low friction air support system [6]. The available ice rink area is 60x30m so the required HILDRA deployment envelope (about 9x7 m) could easily fit.…”

Section: Hildra Dm Test Campaignmentioning

confidence: 99%

Development of long deployable dipole antennas for Sounder Radars in ThalesAleniaSpace-Italia

Trento¹,

Noschese²,

Meschini³

et al. 2013

31st AIAA International Communications Satellite Systems Conference

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Scope of this work is to highlight the heritage developed by ThalesAleniaSpace-Italia (TAS-I) in HF deployable dipoles for Radar Sounders applications. The RF experience acquired by TAS-I in the frame of the SHARAD P/L (SHAllow RADar PayLoad) provided by the Italian Space Agency (ASI) as a facility instrument for the 2005 NASA mission to Mars called MRO (Mars Reconnaissance Orbiter) was complemented within the ESA study named HILDRA (Highly Integrated Low power ice penetrating Deployable Radar Antenna), by exploiting the technology relevant to the deployable dipole. This ESA study entails the design and the development and verification of a technology demonstrator for a highly integrated low power ice penetrating Radar Antenna, targeting the next European and US deep space missions within Horizon 2020 program. The paper summarises the technological development activity experienced by TAS-I including trade-off and design capabilities both at system and at unit level for electrical and technology aspects, including the test campaign carried out over the demonstrator. Main objective of the Demonstration Model (DM) was to exhibit by test the deployment performance of the selected technology, as the deployment of the long dipole was recognised a critical issue for the feasibility of the JUICE (JUpiter ICy Moon Explorer) mission.

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“…Dynamic singularities are configuration and path dependent making path planning challenging. One approach to combat this is to introduce singular value decomposition to obtain a pseudoinverse of the generalised Jacobian [134,135]. The pseudoinverse has a severe computational cost in making the already complex generalised Jacobian even more complex.…”

Section: Freeflyer Manipulator Kinematicsmentioning

confidence: 99%

Tutorial Review on Space Manipulators for Space Debris Mitigation

Ellery

2019

Robotics

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Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.

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Reaction torque control of redundant space robotic systems for orbital maintenance and simulated microgravity tests

Cited by 19 publications

References 25 publications

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Haptic Assisted Virtual Tele-Operation of Robotic Manipulator for Smooth Space Debris Capturing

Development of long deployable dipole antennas for Sounder Radars in ThalesAleniaSpace-Italia

Tutorial Review on Space Manipulators for Space Debris Mitigation

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