Vision-based localization for on-orbit servicing of a partially cooperative satellite

Oumer, Nassir W.; Panin, Giorgio; Mülbauer, Quirin; Tseneklidou, Anastasia

doi:10.1016/j.actaastro.2015.07.025

Cited by 20 publications

(11 citation statements)

References 24 publications

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“…A review of collaborative and non-collaborative spacecraft pose determination techniques for close-proximity operations can be found in Opromolla et al (2017) . Approaches in visual tracking of a non-collaborative as well as a partially collaborative satellite, to enable close-range rendezvous between a servicer and a target satellite, were presented in Oumer (2016) . Experimental results indicate that camera-based methods provide robust and accurate tracking for the approach to malfunctioning satellites in spite of the difficulties associated with specularities and direct sunlight ( Oumer, 2016 ; Lampariello et al, 2021 ).…”

Section: Sensing Of Pose and Statementioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

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Section: Sensing Of Pose and Statementioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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“…On-orbit servicing manipulation requires more complex vision processing under variable illumination conditions, however. One plausible assumption on servicing satellite targets is that partial cooperation with attitude control may be available but no visual markers are likely to be discernible [69]. The vision system will have to employ template recognition methods derived from CAD files.…”

Section: Space Manipulator Operations-evolution From Teleoperation Tomentioning

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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“…While a space-proven LIDAR is designed for the chaser rendezvous and robot arm approaches, the VBS is envisaged to act as a visual sensor for positioning the chaser next to the adapter ring prior to closing the clamping mechanism. Using the same image processing algorithm as for the robot arm camera system, the VBS is conceived for target model building, matching as well as relative pose and motion estimation during this phase (Oumer et al, 2015 ). The system is heritage from the VIBANASS (Kaiser et al, 2013 ) project and comprises three cameras with different focal lengths for far-, mid- and close-range relative navigation.…”

Section: System Control Design Simulations and Analysesmentioning

confidence: 99%

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission

et al. 2018

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This paper presents a robotic capture concept that was developed as part of the e.deorbit study by ESA. The defective and tumbling satellite ENVISAT was chosen as a potential target to be captured, stabilized, and subsequently de-orbited in a controlled manner. A robotic capture concept was developed that is based on a chaser satellite equipped with a seven degrees-of-freedom dexterous robotic manipulator, holding a dedicated linear two-bracket gripper. The satellite is also equipped with a clamping mechanism for achieving a stiff fixation with the grasped target, following their combined satellite-stack de-tumbling and prior to the execution of the de-orbit maneuver. Driving elements of the robotic design, operations and control are described and analyzed. These include pre and post-capture operations, the task-specific kinematics of the manipulator, the intrinsic mechanical arm flexibility and its effect on the arm's positioning accuracy, visual tracking, as well as the interaction between the manipulator controller and that of the chaser satellite. The kinematics analysis yielded robust reachability of the grasp point. The effects of intrinsic arm flexibility turned out to be noticeable but also effectively scalable through robot joint speed adaption throughout the maneuvers. During most of the critical robot arm operations, the internal robot joint torques are shown to be within the design limits. These limits are only reached for a limiting scenario of tumbling motion of ENVISAT, consisting of an initial pure spin of 5 deg/s about its unstable intermediate axis of inertia. The computer vision performance was found to be satisfactory with respect to positioning accuracy requirements. Further developments are necessary and are being pursued to meet the stringent mission-related robustness requirements. Overall, the analyses conducted in this study showed that the capture and de-orbiting of ENVISAT using the proposed robotic concept is feasible with respect to relevant mission requirements and for most of the operational scenarios considered. Future work aims at developing a combined chaser-robot system controller. This will include a visual servo to minimize the positioning errors during the contact phases of the mission (grasping and clamping). Further validation of the visual tracking in orbital lighting conditions will be pursued.

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Vision-based localization for on-orbit servicing of a partially cooperative satellite

Cited by 20 publications

References 24 publications

Robotic Manipulation and Capture in Space: A Survey

Robotic Manipulation and Capture in Space: A Survey

Tutorial Review on Space Manipulators for Space Debris Mitigation

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission

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