Means of Robotic Support for On-Orbit Servicing

Lopota, A. V.; Dalyaev, Igor; Shardyko, Igor; Kuznetcova, Elena; Belezyakov, Ilia

doi:10.2507/26th.daaam.proceedings.120

Cited by 3 publications

(3 citation statements)

References 5 publications

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“…The controlled object is a 6 DoF manipulator devised for the verification of control system and design of a manipulation system for servicing spacecraft [8,9] as a ground prototype. A photo and a simple kinematic model of the prototype are given in Figure 4.…”

Section: Test Bed Descriptionmentioning

confidence: 99%

Implementation of impedance trajectory control on a 6-DoF manipulator

Shardyko

Titov

2018

MATEC Web Conf.

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Abstract. Aiming at enhancing the performance of a robotic system, i.e. of a robot manipulator, it is extremely important to ensure the safety of its functioning and the convenience of operating it. Special attention is required if there is a possibility of a collision, especially with costly equipment or with a person. Among the different means and approaches to prevent or react to such situations, implementation of forcetorque control is considered in this paper. A trajectory task is analysed and an impedance control law is employed to achieve the desired robot behaviour. The effectiveness of the approach has been verified by using a 6-DoF elbow manipulator to perform two types of operations: a peg-in-hole task and path execution with obstacles on the way.

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Section: Test Bed Descriptionmentioning

confidence: 99%

Implementation of impedance trajectory control on a 6-DoF manipulator

Shardyko

Titov

2018

MATEC Web Conf.

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“…It comprises a host spacecraft, a manipulator, a tool kit, a payload unit and a vision system unit. An approach with only one manipulator was chosen after the appropriate research due to its less weight and cost whereas providing essential functionality [5,6].…”

Section: A Servicing Spacecraft Conceptmentioning

confidence: 99%

A Concept of Robotic System with Force-Controlled Manipulators for On-Orbit Servicing Spacecraft

Dalyaev

Titov

Shardyko

2017

Proceedings of the Scientific-Practical Conference "Research and Development - 2016"

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To enhance longevity and safety of unmanned spacecraft, especially on high orbits including geostationary ones, it is thought suitable to exploit on-orbit servicing (OOS) spacecraft (servicers) equipped with manipulation system. The employment of the manipulator is by the requirement for fine manipulation in tasks such as refueling, equipment replacement, orbit correction and maintenance tasks. The key feature of a manipulator to fulfill this list is the force-torque feedback. This paper describes a general concept of the manipulator to carry out the on-orbit servicing tasks along with the common and kinematic description of a ground prototype. A brief look at graphical user interface designed for testing purposes is represented. A ground validation facility is described and the description of series of performed tests is included along with conclusions.

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“…The basic structure of the MRS consists of three main parts: a frame, a hermetical equipment bay and an open body platform for placing autonomously operating scientific equipment to be unloaded during the mission to the lunar surface by means of a manipulator [11,12].…”

Section: Mrs Conceptmentioning

confidence: 99%

Design Concept Lunar Rover for the Moon Geological Exploration

Vasiliev¹,

Dalyaev²,

Slyuta³

2017

DAAAM Proceedings

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The paper discusses the current results of mobile robotic system «Robot-Geologist» development. The robot is intended to maintain geological exploration on the surface of the Moon. Distinctive features of the project in comparison with the known planetary rover projects comprise: superior length of the estimated research route up to 500 km; an autonomous control system capable of moving from one point of scientific interest to the other; a wide range of scientific equipment and an extensive program of research, including lunar surface sampling along with drilling and investigation of wells. The key feature of the "Robot-Geologist" is the ability to transport samples in the course of the expedition and upload them to returnable spacecraft. The paper presents a description of the proposed robot concept as a result of the project development.

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Means of Robotic Support for On-Orbit Servicing

Cited by 3 publications

References 5 publications

Implementation of impedance trajectory control on a 6-DoF manipulator

Implementation of impedance trajectory control on a 6-DoF manipulator

A Concept of Robotic System with Force-Controlled Manipulators for On-Orbit Servicing Spacecraft

Design Concept Lunar Rover for the Moon Geological Exploration

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