Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite

Ôki, T.; Abiko, Satoko; Nakanishi, Hiroki; Yoshida, Kazuya

doi:10.1109/iros.2011.6048758

Cited by 4 publications

(16 citation statements)

References 7 publications

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“…A detumbling control strategy for the servicer must be formulated to bring the tumbling motion of the target to rest while taking into account changes in the servicer's inertial parameters due to the unknown target grasped at the servicer's end-effector. Furthermore, the detumbling control strategy must take into consideration interaction force/torque limits at the grasping location as this may result in damage of the servicer's grasping mechanism or target's grasping point and/or saturation of the servicer's attitude control system [7,9,47,65,66]. The focus of this dissertation is on the development of a detumbling control strategy for the postgrasping phase of the capture sequence.…”

Section: Review Of Literature On Post-grasping Phasementioning

confidence: 99%

“…Addressing target parameter uncertainty, the authors of [47] and [66] have proposed the delineation of a detumbling trajectory without requiring accurate knowledge of the target's inertial parameters and subjected to end-effector's force/torque or torque limits, respectively. In order to respect end-effector force/torque limits, the detumbling trajectory in [47] is modified with the use of force/torque measurements at the end-effector. The detumbling trajectory in [66] was formulated only considering end-effector torque limit and assumed that the location of the target's center of mass is known.…”

Section: Post-grasping Phase With Unknown Targetmentioning

confidence: 99%

“…The detumbling trajectory in [66] was formulated only considering end-effector torque limit and assumed that the location of the target's center of mass is known. Coordination control of the servicer's satellite base and manipulator's end-effector to track the desired detumbling trajectory with an uncertain target attached to it was not addressed in [47]. In [66] and similar to [3,60], impedance control is implemented with the use of end-effector's force/torque measurements to track the desired detumbling trajectory with an uncertain target attached to the servicer's end-effector.…”

Section: Post-grasping Phase With Unknown Targetmentioning

confidence: 99%

“…Under these conditions, the combined servicer-target system after capture will have zero linear momentum relative to the inertial observer as the problem of absorbing and dissipating the gained linear momentum by the servicer with the use of external jet thruster is not addressed. These assumptions are common in the literature on detumbling of a noncooperative target [18,44,47,72].…”

Section: Post-grasping Phasementioning

confidence: 99%

“…In this Section, the dynamics of a space robot is reviewed in order to obtain the equations of motion in the operation space of the space robot similar to the derivation by [47]. The space robot consists of a base body and m-link serial manipulator arm (Fig.…”

Section: Servicer Dynamicsmentioning

confidence: 99%

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

Gangapersaud¹

2021

Preprint

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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.

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Section: Review Of Literature On Post-grasping Phasementioning

confidence: 99%

Section: Post-grasping Phase With Unknown Targetmentioning

confidence: 99%

Section: Post-grasping Phase With Unknown Targetmentioning

confidence: 99%

Section: Post-grasping Phasementioning

confidence: 99%

Section: Servicer Dynamicsmentioning

confidence: 99%

See 3 more Smart Citations

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

Gangapersaud¹

2021

Preprint

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A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase

Vijayan

Stefano

Ott

2022

2022 International Conference on Robotics and Automation (ICRA)

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In this paper, we propose a detumbling strategy that stabilizes the motion of a tumbling client satellite using an orbital servicing manipulator, which is the goal of the post-grasp phase. One of the critical aspects in this phase is ensuring that excessive contact forces are not generated at the grasp interface. In addition, space mission requirements might demand a nominal manipulator configuration that is suitable for further manipulation/servicing activities.The proposed strategy allows the detumbling of the client motion while ensuring that the contact forces developed at the grasp interface do not violate a safety threshold. Further, it allows the reconfiguration of the manipulator arm by exploiting the full actuation capability of the manipulatorequipped servicing spacecraft. The controller guarantees joint task convergence in the nullspace of the manipulator's endeffector, and is also valid for kinematically singular configurations of the manipulator. It is further augmented using a quadratic programming based approach to optimally constrain the contact forces. Finally, simulation results for a post-grasp detumbling scenario are shown to validate the effectiveness of the proposed method.

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Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target

Lei

Yuan

et al. 2022

International Journal of Aerospace Engineering

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Capturing and stabilizing tumbling targets using dual-arm space robots are very crucial to on-orbit servicing task. However, it is still very challenging due to the complex dynamics coupling and closed-chain constraints between the manipulators, the base, and the target. In this paper, a kinodynamic trajectory optimization method is proposed to generate the motion of a dual-arm space robot for stabilizing the captured tumbling target, which is formulated and solved as a nonlinear programming problem using direct collocation. Instead of optimizing the trajectory of each joint with the dynamics model of space robot, this method optimizes the trajectory of the tumbling target while considering the kinematics and dynamics constraints between the two arms and the target simultaneously. The objective function of the optimization is defined as weighted detumbling time, base disturbance, and manipulability, in order to avoid singularity and save the energy of space robot for further manipulation. Several physical simulations are carried out to validate the proposed method.

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Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite

Cited by 4 publications

References 7 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

A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase

Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target

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