Rescuing a stranded satellite in space - experimental study of satellite captures using a space manipulator

Inaba, Noriyasu; Nishimaki, Takeshi; Asano, M.; Oda, Mitsushige

doi:10.1109/iros.2003.1249628

Cited by 11 publications

(10 citation statements)

References 2 publications

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“…The authors used the bias momentum approach during the approaching phase, impedance control during the impact phase and DMC during the pos-impact phase. Inaba et al [181] presented some design requirements when using a space robot to capture a satellite. Special attention was paid in the image processing for the visual servoing.…”

Section: B Free-flying Casementioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: B Free-flying Casementioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…[3][4][5][6] A space test of satellite capture was also carried out in the ETS-VII space robot experiment, for an attitude-stable target satellite which is kept in the open space of a docking mechanism. 7,8) The concept studies of satellite capture are also carried out for space servicing. 9,10) However, the capture experiment for an uncooperative satellite rotating in 3-dimensional (3D) space has not been carried out at the vehicle system level.…”

Section: Introductionmentioning

confidence: 99%

Ground Experiment for Capturing Rotating Satellite in 3D Space Using an Orbit Maintenance Vehicle

Machida

Ooi

Ozaki

2004

Trans. JSASS Space Tech. Japan

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An orbit maintenance system equipped with a robot is expected to rescue satellites enabling their life spans to be prolonged and suppressing the amount of space debris. We are studying a system that is capable of the assembly, capture, diagnosis and repair of small satellites in orbit. A ground model of the orbit maintenance vehicle, which is equipped with a pair of robot arms, has been developed for these studies. In this paper, we describe a ground experiment for capturing an uncontrollably rotating satellite using the robot. The capture experiments were performed in sensor-dased autonomous control mode. We demonstrated that the vehicle flies toward the satellite, which is rotating in a test facility simulating 3-dimensional space, by measuring the relative position and attitude through image processing of a target marker, and then captures the handrail of the satellite with a hand having an adaptive mechanism by means of predictive visual servo tracking of the robot arm.

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“…There have been space missions developed to demonstrate the technology required for on-orbit servicing, JAXA's ETS VII, in 1999, performed the first autonomous capture of a satellite using a robotic arm [2], [3].…”

Section: Autonomous Mission Due To the Time Delay In Communications mentioning

confidence: 99%

“…The lack of docking aids of a non-cooperative satellite makes difficult the pose estimation problem. Machine vision based pose estimation system has been proposed to perform this task [2], [7], [8], [9], [3].…”

Section: Autonomous Mission Due To the Time Delay In Communications mentioning

confidence: 99%

“…The interface ring has been proposed as a possible location for grasping the satellite [1], [3] since it is easily accessible and has the appropriate structural properties. The function of an interface ring is to attach the satellite to the launching vehicle, and they are a fairly common feature in several satellites.…”

Section: Autonomous Mission Due To the Time Delay In Communications mentioning

confidence: 99%

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Machine-Vision-Based Pose Estimation System Using Sensor Fusion for Autonomous Satellite Grappling

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Rescuing a stranded satellite in space - experimental study of satellite captures using a space manipulator

Cited by 11 publications

References 2 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

Ground Experiment for Capturing Rotating Satellite in 3D Space Using an Orbit Maintenance Vehicle

Machine-Vision-Based Pose Estimation System Using Sensor Fusion for Autonomous Satellite Grappling

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