Trajectory Tracking and Control of Multiple Robot Arms on a Free-Floating Spacecraft for Debris Removal

Abstract

In this work, we propose the idea of using dedicated small spacecrafts carrying multiple robot arms for space debris removal. Future space missions are expected to have computers with high computational capabilities. Hence, a model predictive control architecture is used to generate the control commands. The small spacecraft in consideration carries two identical 3-DoF robot arms attached diagonally opposite to each other. Thus the workspace covered by the robot arm increases. We show trajectory tracking simulation results of the proposed freefloating spacecraft to demonstrate the concept.