On-Orbit Identification of Inertia Properties of Spacecraft Using Robotics Technology

Ma, Ou

doi:10.2514/6.2007-6815

Cited by 10 publications

(12 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Other techniques should be applied instead. For example, references [17][18][19][20] have good discussions regarding accurate identification of unknown satellite inertia parameters. …”

Section: Simulation Of Tracking Angular Velocity Using the Tracking Lawmentioning

confidence: 99%

Angular-velocity tracking with unknown dynamics for satellite rendezvous and docking

Diao

Liang

2009

SPIE Proceedings

Self Cite

View full text Add to dashboard Cite

Autonomous satellite on-orbit servicing is a very challenging task when the satellite to be serviced is tumbling and has an unknown dynamics model. This paper addresses an adaptive control approach which can be used to assist the control of a servicing satellite to rendezvous and dock with a tumbling satellite whose dynamics model is unknown. A proximity-rendezvous and docking operation can be assumed to have three steps: 1) pre-dock alignment, 2) soft docking and latching/locking-up, and 3) post-docking stabilization. The paper deals with the first and third steps. Lyapunovbased tracking law and adaptation law are proposed to guarantee the success of the nonlinear control procedures with dynamics uncertainties. A dynamics simulation example is presented to illustrate the application of the proposed control approach. Simulation results demonstrated that the adaptive control method can successfully track any required angular velocity trajectory even when the dynamics model of the target satellite is unknown.

show abstract

“…Other techniques should be applied instead. For example, references [17][18][19][20] have good discussions regarding accurate identification of unknown satellite inertia parameters. …”

Section: Simulation Of Tracking Angular Velocity Using the Tracking Lawmentioning

confidence: 99%

Angular-velocity tracking with unknown dynamics for satellite rendezvous and docking

Diao

Liang

2009

SPIE Proceedings

Self Cite

View full text Add to dashboard Cite

show abstract

“…When these parameters change in orbit, the satellite control system needs to update its dynamics model by re-estimating or identifying these parameters. Several methods exist to identify the inertia parameters [1][2][3][4]. The specific method concerned in this paper is briefly described in this section for quick reference.…”

Section: Theoretical Backgroundmentioning

confidence: 99%

“…Details are available in reference [1]. The robot mass is always known and can be computed from the robot's inertia parameters (including the centroid position at its home configuration) and current configuration.…”

Section: Letmentioning

confidence: 99%

“…if the active vehicle does not have proper knowledge of the new inertia properties of the compound system. The Dynamics Controls and Robotics Research Group at New Mexico State University proposed a robotics-based method for on-orbit identification of the inertia property of a satellite [1] based on the impulsemomentum principle. The method can identify the inertia parameters-such as the mass, the location of the mass center, and the inertia matrix of a satellite with the help of an onboard robotic system or another configuration-controllable mechanism.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development of a suborbital flight experiment for validating a satellite inertia identification method

Martinez

Inzunza-Ibarra

Ferrel

et al. 2011

Sensors and Systems for Space Applications IV

Self Cite

View full text Add to dashboard Cite

For three years, students at New Mexico State University have pursued flight experiments for validation of a newly developed inertia property identification algorithm. The robotics-based algorithm was developed and studied using computer simulations only. It has not been fully validated experimentally because of the difficulty to physically test full six degrees of freedom system dynamics in microgravity conditions on the ground. In the attempt to experimentally validate the algorithm, two experiments onboard NASA's C-9 microgravity flights have been performed. Although these flight experiments have been an invaluable experience, the zero-gravity environment desired to fully validate the algorithm has not yet been achieved. The full validation requires 6 DOF, a zero-gravity motion condition which is virtually inconceivable for ground-based testing or aircraft-based testing. Therefore, the student team is developing a suborbital experiment to further test the algorithm. The experiment has been scheduled to fly in the summer of 2011. This paper describes the activities of this suborbital flight project.

show abstract

“…One is based on the linear an angular momentum conservation law and the other on Newton-Euler equations of Motion. Ma et al proposed an inertia identification method which uses an onboard robotic arm to excite the angular velocity changes of the base spacecraft and then using measured angular velocity changes to identify the unknown inertia parameters of the base spacecraft [71]. Since the method uses a robotic arm which is powered by solar energy, it does not require the use of fuel.…”

Section: Cbm Docking Interface (Details On Arrow "A")mentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

Self Cite

View full text Add to dashboard Cite

Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

show abstract

On-Orbit Identification of Inertia Properties of Spacecraft Using Robotics Technology

Cited by 10 publications

References 13 publications

Angular-velocity tracking with unknown dynamics for satellite rendezvous and docking

Angular-velocity tracking with unknown dynamics for satellite rendezvous and docking

Development of a suborbital flight experiment for validating a satellite inertia identification method

A Review of Robotics Technologies for On-Orbit Services

Contact Info

Product

Resources

About