Downsizing an orbital space robot: A dynamic system based evaluation

Jackson, Lucy; Saaj, Chakravarthini M.; Seddaoui, Asma; Whiting, Calem; Eckersley, Steve; Hadfield, Simon

doi:10.1016/j.asr.2020.03.004

Cited by 11 publications

(5 citation statements)

References 32 publications

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“…Payload mass %100 g [252] End effector accuracy %AE2 mm [252] Maximum apply force %20 N [252] End effector opening %1 mm [252] Allowable time delay %0.5 s [253] Rigid space manipulator Multiple mobile arm space robots [253] Replace optics Standard camera mass <1 kg [252] End effector accuracy %AE1 mm [252] Allowable time delay %0.5 s [253] Rigid space manipulator…”

Section: Assemble Solar Arraysmentioning

confidence: 99%

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Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Zhang

Quan

et al. 2022

Advanced Intelligent Systems

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The development of space robots is vital to broadening human cognitive boundaries. Space robots have been deployed in space science experiments, extravehicular operations, and deep space exploration. The application of space robots undoubtedly reduces the risk and cost of space activities. Traditional space robots primarily utilize rigid structures, resulting in limited degrees of freedom, which restricts their operational capabilities. In contrast, soft robots with greater flexibility and robustness may be used for future space exploration. Soft robots applied in space environments must overcome significant challenges associated with ultrahigh vacuum, microgravity, extreme temperatures, and high‐energy radiation. Herein, a comprehensive analysis of the key advantages of soft robots is presented based on the special requirements of the space environments for soft robots. Furthermore, brief insights into how soft robots must be changed in terms of their design, modeling, fabrication, sensing, and control to adapt to space environments are discussed. Specifically, soft robot scenarios with potential space application value are introduced. Finally, opinions regarding the potential directions of soft space robots are provided.

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Section: Assemble Solar Arraysmentioning

confidence: 99%

“…Performance requirements for robotic system Types of candidate robots On-orbit missions Mount antenna Payload mass %80 g [252] End effector accuracy %AE2 mm [252] Allowable time delay %0.5 s [253] Rigid space robots Inflatable soft robots…”

Section: Space Missionsmentioning

confidence: 99%

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Zhang

Quan

et al. 2022

Advanced Intelligent Systems

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“…In-orbit missions are being scaled up to meet the growing scientific demands of the space community. The candidate inorbit missions include servicing, assembly, manufacturing, repairs, recycling, and Active Debris Removal (ADR) [1][2][3][4][5][6][7][8][9][10][11][12]. Amongst in-orbit assembly missions, the assembly of Space-based Solar Power (SBSP) generation, Active Debris Removal (ADR), and large aperture space telescopes for astronomy and earth observation are gaining momentum [13][14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Untitled

2024

OJRAT

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Robotics, Automation and Autonomous Systems are the main pillars for large-scale futuristic in-orbit missions. The state-of-the-art semiautonomous robotic manipulators in orbit are operated from the International Space Station and have limited walking features restricting their workspace. Hence, they cannot efficiently assemble complex infrastructures in-situ, such as space telescopes and space-based solar power. To overcome the technological gaps in the conventional space manipulators, the next generation of walking space manipulator, known as the End-Over-End Walking Robot (E-Walker), is introduced. The E-Walker's inbuilt redundancy and modular design offers enhanced workspace utilization, greater agility and maneuverability both for in-space missions and other terres-trial applications. The assembly mission Concept of Operations (ConOps) dealt in this paper is the modular Large Aperture Space Telescope (LAST) and presents the modelling of a fully dexterous seven degrees-of-freedom E-Walker with its gait analysis and control. The closed-loop performance of the E-Walker is analyzed under perturbed microgravity conditions using two widely used space-proven controllers a. The Proportional-Integral-Derivative controller coupled with the Computed-Torque-Controller (PID-CTC) and b. The robust H ∞ controller. The simulation results prove E-Walker's efficacy for accomplishing multiplex in-situ assembly of a large aperture space telescope.

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“…Their long working hours and high efficiency can greatly save the cost of space exploration and perform more complex tasks [1][2][3][4]. Therefore, it is of great significance to do research on space robots [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Space Robot On-Orbit Operation of Insertion and Extraction Impedance Control Based on Adaptive Neural Network

Liu

Chen

2023

Aerospace

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The on-orbit operation of insertion and extraction of space robots is a technology essential to the assembly and maintenance in orbit, satellite fuel filling, failed satellite recovery, especially modular in-orbit assembly of micro-spacecraft. Therefore, the force/posture impedance control for the on-orbit operation of insertion and extraction is studied. Firstly, the dynamic model of space robots’ system in the form of uncontrolled carrier position and controlled attitude is derived by using the momentum conservation principle. Through the kinematic constraints of the replacement component plug, the Jacobi relationship of the plug motion in the base coordinate system is established. Secondly, to achieve the output force control of the plug during the on-orbit operation of insertion and extraction, a second-order linear impedance model is established based on the dynamic relationship between the plug posture and its output force and the impedance control principle. Then, in order to improve the stability, robustness, and adaptability of the controller, an adaptive Radial Basis Function Neural Network (RBFNN) is used to approximate the uncertainties in the dynamic model for the force/posture control of the plug. Finally, the stability of the system is verified by the Lyapunov principle. The simulation results show that the designed neural network impedance control strategy can achieve a control accuracy of less than 10−3 rad for the plug’s attitude tracking error, less than 10−3 m for its position tracking error, and less than 0.5 N for its output force tracking error.

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Downsizing an orbital space robot: A dynamic system based evaluation

Cited by 11 publications

References 32 publications

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Untitled

Space Robot On-Orbit Operation of Insertion and Extraction Impedance Control Based on Adaptive Neural Network

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