The prototype of space manipulator WMS LEMUR dedicated to capture tumbling satellites in on-orbit environment

Seweryn, K.; Baran, Jędrzej; Barciński, Tomasz; Colmenarejo, P.; Los, Aleksander; Kowalski, Tomasz; Mollinedo, Luis; Mora, D.; Musiał, Jacek; Novelli, Gabriele; Oleś, Jakub; Ososinska, Katarzyna; Paśko, P.; Prisco, G.; Rybus, Tomasz; Serra, Pedro; Wawrzaszek, R.; Fernandez, Jesus Gil

doi:10.1109/romoco.2017.8003887

Cited by 3 publications

(3 citation statements)

References 19 publications

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“…The desired manipulator joint angular velocities are then sent to the manipulator Proportional-Integral-Derivative (PID) joint controllers (Seweryn et al, 2017). The presented approach forms a cascade control system, where the outer loop is a P controller of the position and orientation of the end-effector and the inner loop is a PID controller of the manipulator joint angular velocities.…”

Section: Control Schemementioning

confidence: 99%

“…The industrial manipulator is responsible for simulating the motion of the servicing satellite based on the mathematical model of the system. Such experiments were performed, among other things, on the on-orbit servicing simulator (OOS-SIM) facility operated by the German Aerospace Center (DLR) (Artigas et al, 2015;De Stefano et al, 2021) and on the platform-art facility operated by GMV (Colmenarejo et al, 2019;Seweryn et al, 2017). In the second approach, experiments are performed with one fixed-base manipulator (Li et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System

Wojtunik,

Łuczak,

Rybus

et al. 2023

Artificial Satellites

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The on-ground validation of control systems designed for manipulators working in orbit is very difficult due to the necessity of simulating the microgravity environment on Earth. In this paper, we present the possibilities of utilising the KUKA KUBE test-bed with industrial robots to experimentally verify space systems using hardware-in-the-loop tests. The fixed-base KUKA industrial robot is operated in gravitational environment, while the space system model plant is solved in real time parallel to on-ground experiment. The test-bed measurements are the input of the model plant, and the output of the model is treated as an input for the industrial robot actuation. In the performed experiment, the control system based on the Dynamic Jacobian is validated. The desired point that is reached by the manipulator's end-effector is constant in the simulated environment and moving with respect to the test-bed frame. The position of the space manipulator's end-effector is calculated by evaluating dynamics of the satellite in real-time model. The results show that the control system applied to the KUKA robot works correctly. The measurements from the torque sensors mounted in KUKA robot's joints are in accordance with the simulation results. This fact enhances the possibilities of gravity compensation, thus simulating microgravity environment on the test-bed.

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Section: Control Schemementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System

Wojtunik,

Łuczak,

Rybus

et al. 2023

Artificial Satellites

Self Cite

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show abstract

“…WMS LEMUR robot development at CBK PAN (Seweryn et al, 2017). There were also several projects related to some specific technologies such as vision systems (Diaz and Abderrahim, 2006) and Lidars (Allen et al, 2005) which can be used as sensors for robotic arms.…”

Section: Robonaut As An Internal Development Of Nationalmentioning

confidence: 99%

Satellite angular motion classification for active on-orbit debris removal using robots

Seweryn

Sąsiadek

2019

AEAT

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Purpose This paper aims to present a novel method for identification and classification of rotational motion for uncontrolled satellites. These processes are shown in context of close proximity orbital operations. In particular, it includes a manipulator arm mounted on chaser satellite and used to capture target satellites. In such situations, a precise extrapolation of the target’s docking port position is needed to determine the manipulator arm motion. The outcome of this analysis might be used in future debris removal or servicing space missions. Design/methodology/approach Nonlinear, and in some special cases, chaotic nature of satellite rotational motion was considered. Four parameters were defined: range of motion toward docking port, dominant frequencies, fractal dimension of the motion and its time dependencies. Findings The qualitative analysis was performed for presented cases of spacecraft rotational motion and for each case the respective parameters were calculated. The analysis shows that it is possible to detect the type of rotational motion. Originality/value A novel procedure allowing to estimate the type of satellite rotational motion based on fractal approach was proposed.

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An Adaptive Backstepping Control for a Free-Floating Space Manipulator Using a Linearly Parametrized Dynamic Model

Wojtunik,

Rybus,

Seweryn

2024

J. Aerosp. Eng.

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The prototype of space manipulator WMS LEMUR dedicated to capture tumbling satellites in on-orbit environment

Cited by 3 publications

References 19 publications

Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System

Application of the Kuka Kube Test-Bed for the Hardware-in-the-Loop Validation of the Space Manipulator Control System

Satellite angular motion classification for active on-orbit debris removal using robots

An Adaptive Backstepping Control for a Free-Floating Space Manipulator Using a Linearly Parametrized Dynamic Model

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