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

Virgili-Llop, Josep; Drew, Jerry; Zappulla, Richard; Romano, Marcello

doi:10.1016/j.ast.2017.09.043

Cited by 53 publications

(21 citation statements)

References 39 publications

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“…This quasi-frictionless dynamics combined with the horizontally leveled table produce a low residual acceleration environment in two translation and one rotation degree-of-freedom (planar motion). Eight cold-gas thrusters (Lugini and Romano, 2009 ), modulated using a Delta-Sigma modulator (Ciarcià et al, 2017 ; Zappulla et al, 2017a ), provide the required control forces, while a reaction wheel, controlled via a speed-mode controller, actuates the requested torques (Virgili-Llop et al, 2017a ). A three-link manipulator is mounted on the chaser FSS (Virgili-Llop et al, 2016 , 2017a ).…”

Section: Experiments On a Planar Air Bearing Tablementioning

confidence: 99%

“…Eight cold-gas thrusters (Lugini and Romano, 2009 ), modulated using a Delta-Sigma modulator (Ciarcià et al, 2017 ; Zappulla et al, 2017a ), provide the required control forces, while a reaction wheel, controlled via a speed-mode controller, actuates the requested torques (Virgili-Llop et al, 2017a ). A three-link manipulator is mounted on the chaser FSS (Virgili-Llop et al, 2016 , 2017a ). The manipulator joints are all revolute.…”

Section: Experiments On a Planar Air Bearing Tablementioning

confidence: 99%

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Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Virgili-Llop

Romano

2019

Front. Robot. AI

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A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material.

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Section: Experiments On a Planar Air Bearing Tablementioning

confidence: 99%

Section: Experiments On a Planar Air Bearing Tablementioning

confidence: 99%

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Virgili-Llop

Romano

2019

Front. Robot. AI

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“…In recent years, the aerospace industry has placed increasingly stringent requirements on the performance of space manipulators [1], [2]. If the arms are required to be light in weight, large in end load, and capable of capture maneuvers [3], its own elastic deformation must be large, which may cause system damage because of the resonance of the structure [4].…”

Section: Introductionmentioning

confidence: 99%

Neural Network Control of Space Manipulator Based on Dynamic Model and Disturbance Observer

et al. 2019

IEEE Access

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Space flexible manipulators are convenient for performing on-orbit service; however, the vibration of the end effector is becoming increasingly serious because of the excessive length and mass of the arm. To solve this problem, in this paper, neural network control based on a flexible multibody dynamic model and disturbance observer is proposed. The dynamics model is based on the Lagrangian equation and assumed mode method, and also considers the position and attitude constraint equations of the flexible joint. The combination of a neural network controller and adaptive controller is introduced in detail, and a switching mechanism is added to improve the global stability of the system. Considering the joint module as an independent control system, a disturbance observer is added to the current loop of the control system, and a filter is combined to effectively suppress the influence of friction and dynamic coupling on joint control performance. The effectiveness of the proposed dynamic model and control scheme in terms of vibration suppression is verified in experiments on the self-designed space flexible redundant arm.

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“…This differs from existing techniques due to the fact that it includes the possibility to constrain the final velocity of the EE by making the period of the capture maneuver an optimization variable. Virgili-Llop et al [19,20] described a set of laboratory-based experiments using a free-floating robot in which they demonstrated the autonomous capture of a nonmoving space object using a robotic manipulator. The authors made use of the Proximity Operation of Spacecraft: Experimental hardware-In-the-loop DYNamic Simulator testing platform [21], which can create a quasi-frictionless planar environment.…”

Section: Introductionmentioning

confidence: 99%

Experimental Validation of Pseudospectral-Based Optimal Trajectory Planning for Free-Floating Robots

Crain

Ulrich

2019

Journal of Guidance, Control, and Dynamics

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This paper proposes the use of pseudospectral methods to solve the nonlinear trajectory planning problem for freefloating robots. Specifically, three different optimization tools are analyzed. Using each tool, simulations are performed, and it is shown that each solver is capable of finding a deployment trajectory that minimizes the final attitude of a free-floating robot. Each solution is then validated using Pontryagin's minimum principle and Bellman's principle of optimality, as well as by propagating the control torques using a numerical integrator and the dynamics model. Experimental validation is performed at Carleton University's Spacecraft Robotics and Control Laboratory to further investigate the solutions obtained from each tool. Ultimately, it was determined that all solutions resulted in a reduced attitude disturbance at the end of the robotic deployment maneuver.

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

Cited by 53 publications

References 39 publications

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Neural Network Control of Space Manipulator Based on Dynamic Model and Disturbance Observer

Experimental Validation of Pseudospectral-Based Optimal Trajectory Planning for Free-Floating Robots

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