Orbiter Boom Sensor System and Shuttle Return to Flight: Operations Analyses

Greaves, Sarah; Boyle, Keith; Doshewnek, Nik

doi:10.2514/6.2005-5986

Cited by 5 publications

(3 citation statements)

References 1 publication

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“…The Shuttle Remote Manipulator System (SRMS) was also used for satellite repair operations (Hubble). In combination with the SRMS, the Orbiter Boom Sensor System (OBSS) (Greaves et al, 2005 ) was utilized for the inspection of the Shuttle's heat protection tiles.…”

Section: State Of the Artmentioning

confidence: 99%

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission

et al. 2018

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This paper presents a robotic capture concept that was developed as part of the e.deorbit study by ESA. The defective and tumbling satellite ENVISAT was chosen as a potential target to be captured, stabilized, and subsequently de-orbited in a controlled manner. A robotic capture concept was developed that is based on a chaser satellite equipped with a seven degrees-of-freedom dexterous robotic manipulator, holding a dedicated linear two-bracket gripper. The satellite is also equipped with a clamping mechanism for achieving a stiff fixation with the grasped target, following their combined satellite-stack de-tumbling and prior to the execution of the de-orbit maneuver. Driving elements of the robotic design, operations and control are described and analyzed. These include pre and post-capture operations, the task-specific kinematics of the manipulator, the intrinsic mechanical arm flexibility and its effect on the arm's positioning accuracy, visual tracking, as well as the interaction between the manipulator controller and that of the chaser satellite. The kinematics analysis yielded robust reachability of the grasp point. The effects of intrinsic arm flexibility turned out to be noticeable but also effectively scalable through robot joint speed adaption throughout the maneuvers. During most of the critical robot arm operations, the internal robot joint torques are shown to be within the design limits. These limits are only reached for a limiting scenario of tumbling motion of ENVISAT, consisting of an initial pure spin of 5 deg/s about its unstable intermediate axis of inertia. The computer vision performance was found to be satisfactory with respect to positioning accuracy requirements. Further developments are necessary and are being pursued to meet the stringent mission-related robustness requirements. Overall, the analyses conducted in this study showed that the capture and de-orbiting of ENVISAT using the proposed robotic concept is feasible with respect to relevant mission requirements and for most of the operational scenarios considered. Future work aims at developing a combined chaser-robot system controller. This will include a visual servo to minimize the positioning errors during the contact phases of the mission (grasping and clamping). Further validation of the visual tracking in orbital lighting conditions will be pursued.

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Section: State Of the Artmentioning

confidence: 99%

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission

et al. 2018

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“…7 The so-called large or small debris is generally connected with the size, mass and inertia of the space robot and the typical case about capturing of large noncooperative target is the Phoenix 8 of DARPA in the United States, in which the mass of the target is about four times larger than that of the space robot. The focus of current research on robotic capturing is mainly on capturing of small target, [9][10][11][12][13][14] that is, the size and mass of the target are smaller than those of the chaser. In such kind of capture process, the chaser oversees the relationship, and therefore the large target is in charge of the process of capture for the weight advantage.…”

Section: Introductionmentioning

confidence: 99%

Whole-body compliance for multi-arm space robotic capturing of large tumbling target in connection compliant phase

Liu

Huang

Yang

et al. 2018

Advances in Mechanical Engineering

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Based on the characteristics of large tumbling space debris, this article proposes an effective method for whole-body compliant controller to eliminate the effects of the relative velocity between chaser and target which is not zero after the capture hands hold their corresponding handles tightly that is named as connection compliant phase. First, the kinematics and dynamics models are established, including tumbling target, free-floating chaser and chaser-target, respectively. Second, to analyse the characteristics of capturing of a large tumbling target, a simplified kinematics model about the centre of mass of the chaser is established, and a Cartesian-space compliant controller is designed in order to achieve the desired gross force as the input of multi-arm compliant distribution. Subsequently, we propose a method based on centre of forces to distribute the desired gross force to each arm optimized first and also a closed-loop regulator based on the dissipation vectors online as the second step. Then, a passivity-based control strategy is used in order to enhance the robustness of the system. Finally, the effectiveness of the control strategy mentioned above is verified by the simulation and air-bearing experiment in the horizontal plane partially.

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“…The three systems can be teleoperated by the crew and are being used for extravehicular activity (EVA) support, space station assembly, and satellite operations (retrieve, repair, deploy). In combination with the SRMS, the Orbiter Boom Sensor System (OBSS) (Greaves, Boyle, & Doshewnek, 2005) is utilized for the inspection of the Shuttle's heat protection tiles.…”

Section: Introductionmentioning

confidence: 99%

SPHERES interact—Human–machine interaction aboard the International Space Station

Stoll

Jaekel

Katz

et al. 2012

Journal of Field Robotics

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The deployment of space robots for servicing and maintenance operations that are teleoperated from the ground is a valuable addition to existing autonomous systems, because it will provide flexibility and robustness in mission operations. In this connection, not only robotic manipulators are of great use, but also free‐flying inspector satellites supporting the operations through additional feedback to the ground operator. The manual control of such an inspector satellite at a remote location is challenging, because navigation in three‐dimensional space is unfamiliar and large time delays can occur in the communication channel. This paper shows a series of robotic experiments, in which free flyers are controlled by astronauts aboard the International Space Station (ISS). The Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) were utilized to study several aspects of a remotely controlled inspector satellite. The focus in this case study is investigating different approaches to human–spacecraft interaction with varying levels of autonomy under zero‐gravity conditions. © 2012 Wiley Periodicals, Inc.

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Orbiter Boom Sensor System and Shuttle Return to Flight: Operations Analyses

Cited by 5 publications

References 1 publication

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission

Whole-body compliance for multi-arm space robotic capturing of large tumbling target in connection compliant phase

SPHERES interact—Human–machine interaction aboard the International Space Station

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