Free-flying robots in space: an overview of dynamics modeling, planning and control

Abstract

SUMMARYFree-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

“…1,2,[5][6][7] The difficulty of recreating the dynamic conditions of a space-based manipulator in a laboratory environment has limited the availability of validation experiments of autonomous capture maneuvers by highly dynamically coupled space manipulator systems. Even without considering systems with high dynamic coupling, this type of experiments have been scarce.…”

Laboratory experiments of resident space object capture by a spacecraft–manipulator system

“…Extensive analytic work and numerical simulations have been devoted to the modeling and control of spacecraft-manipulator systems, chiefly focusing on RSO capture [1][2][3]. The scarcity of suitable test facilities to recreate the complex dynamic phenomena [4,5] has made the equivalent experimental-based work exceedingly rare [6][7][8][9][10][11][12][13][14][15].…”

Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm

“…It can greatly reduce the workload of astronauts and improve their work efficiency. In addition, if the robot can realize free flight in-cabin, it would also have the capacity to take advantage of the high level microgravity environment to complete some scientific experiments such as vibration isolation experiments [2], small satellites formation experiments and spacecraft rendezvous and docking experiments [3]. Therefore, this kind of in-cabin space robot has a high application value.…”