2019
DOI: 10.1007/978-3-030-20131-9_306
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Kinematic Indices of rotation-floating space robots for on-orbit servicing

Abstract: There is a growing need for space and in-orbit operations that would require use of advance robotic systems. The robotics systems could be used in debris removal from orbits, as well as, in on-orbit servicing activities. This paper is addressing design and control problems related to autonomous spacecraft-manipulator system for space operation. The dynamics equations for rotation floating manipulator were introduced using Lagrange approach with additional states representing the kinetic moment exchange actuato… Show more

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Cited by 6 publications
(9 citation statements)
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“…In this paper, the general tools for a common control of the base and manipulator actuators are developed to achieve high-precision manipulator control for on-orbit assembly scenarios in presence of vibration disturbances and system variations. The common control, motivated by our previous work on system analysis [13], allows to improve the control performances with a better use of actuators. By detailing the rigid-flexible dynamics of the spacecraft, the disturbances are tackled in the feedback linearization with a better efficiency than with a classical unknown disturbance observer.…”
Section: Discussionmentioning
confidence: 99%
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“…In this paper, the general tools for a common control of the base and manipulator actuators are developed to achieve high-precision manipulator control for on-orbit assembly scenarios in presence of vibration disturbances and system variations. The common control, motivated by our previous work on system analysis [13], allows to improve the control performances with a better use of actuators. By detailing the rigid-flexible dynamics of the spacecraft, the disturbances are tackled in the feedback linearization with a better efficiency than with a classical unknown disturbance observer.…”
Section: Discussionmentioning
confidence: 99%
“…Controlling the manipulator capitalizing on the benefits of kinetic moment exchange devices has raised an interest to deal with the manipulation of relatively high mass and inertia such as in capture or deployment scenarios. Through kinematic indices, controlling the spacecraft attitude while controlling the manipulator allows to increase its manipulability [13]. Combining reaction wheels and control moment gyroscopes has been studied to maintain the satellite platform fixed during manipulator motions [14].…”
Section: Control Of Rotation-floating Space Robots With Flexible Appe...mentioning
confidence: 99%
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“…Other approaches in which one arm of a dual-arm space robot system was used to counteract the disturbance induced by the motion of the other arm on the satellite can be found in [15][16][17]. In [18] the equations of motion of a rotation floating space robot were modified through adding new states representing the kinetic moment exchange. However, these studies focus on the situation where the linear and angular momenta of the robot system are conserved and are equal to zero.…”
Section: Introductionmentioning
confidence: 99%