Promising on-orbit servicing tasks for spacecraft life extension

Kozlova, N. Yu.; Фомичев, А. В.

doi:10.1063/5.0035929

Cited by 3 publications

References 10 publications

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Point-to-point trajectory planning for space robots based on jerk constraints

Xiao

2021

Review of Scientific Instruments

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This paper studies the Cartesian point-to-point optimal trajectory planning for space robots oriented to space maintenance operations. Aiming at the problems of poor stability, large base disturbance, and large joint variation in the motion planning of point-to-point maintenance in space, a planning method is proposed to minimize the base disturbance and the total joint angle variation under the jerk constraint on the premise of ensuring the accuracy of the end pose. First, the attitude of the space robot is described by the unit quaternion, and the velocity relationship between the joint angle, the end effector, and the base posture is introduced. Then, the joint trajectories were parameterized by a fifth degree polynomial, and a trajectory planning model with the minimum perturbation of the base and the minimum variation of the joint of the manipulator was established under the condition that the end effector satisfied the pose and the jerk constraint. Finally, a multi-objective optimization algorithm is proposed to deal with the trajectory optimization problem under nonlinear constraints. The simulation results show that the proposed trajectory planning method can optimize the base attitude and joint angle of the space manipulator under the premise of the optimal trajectory and stability of the terminal execution tool, which ensures the stability of the space robot’s on-orbit service and reduces the energy consumption.

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Point-to-point trajectory planning for space robots based on jerk constraints

Xiao

2021

Review of Scientific Instruments

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Service satellite control in Rendezvous with a non-cooperative spacecraft

Kozlova¹,

Фомичев²

2023

XLV Academic Space Conference, Dedicated to the Memory of Academician S.P. Korolev and Other Outstanding National Scientists —

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Algorithmization of Guidance and Motion Control of a Space Manipulation Robot in the Service Tasks of a Non-Operative Spacecraft

Kozlova

Фомичев

2023

Mehatronika, avtomatizaciâ, upravlenie

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Nowadays there are many non-functioning spacecraft in orbit that have run out of fuel, or have failed due to breakdown. Therefore, the concept of a serviced space and the development of space manipulation robot for extending the spacecraft service life are becoming expedient. Space manipulation robot will be able to perform a variety of tasks, from inspecting malfunctions of a serviced spacecraft, to performing repairs and refueling the target vehicle. The article proposes a strategy and algorithms for the guidance and motion control of a space manipulation robot at the stage of rendezvous with a non-cooperative spacecraft to perform maintenance tasks. The purpose of the article is to synthesize the control of the translational and rotational motion of the space manipulation robot for its convergence with the target satellite at a given distance. The control system is presented in the form of a hierarchical two-level "guidance-stabilization" system. At the guidance level, a transition quaternion of the associated coordinate system to the required position is formed, as well as thrust engine control, which ensures the translational motion of the space manipulation robot at the required velocity. At the stabilization level, a control is formed that superpose the associated coordinate system of the space manipulation robot with the direction to the served satellite. The article proposes a scheme and a mathematical model of the propulsion system, angular and translational motion of the service satellite. The modeling of the developed guidance and motion control algorithms in the SIMULINK environment has been carried out.

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Promising on-orbit servicing tasks for spacecraft life extension

Cited by 3 publications

References 10 publications

Point-to-point trajectory planning for space robots based on jerk constraints

Point-to-point trajectory planning for space robots based on jerk constraints

Service satellite control in Rendezvous with a non-cooperative spacecraft

Algorithmization of Guidance and Motion Control of a Space Manipulation Robot in the Service Tasks of a Non-Operative Spacecraft

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