Result of Autonomous Rendezvous Docking Experiment of Engineering Test Satellite-VII

Kawano, Isao; Mokuno, Masaaki; Kasai, Takeshi; Suzuki, Takashi

doi:10.2514/2.3661

Cited by 109 publications

(43 citation statements)

References 1 publication

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“…Previous research and on orbit demonstration of autonomous rendezvous and docking dates back to 1998 [2]. The Air Force Research Laboratory (AFRL) has worked on a series of close-proximity satellite experiments beginning with XSS-10, launched in 2003 to test close-in satellite inspection techniques [3].…”

Section: Introductionmentioning

confidence: 99%

Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft

2011

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Section: Introductionmentioning

confidence: 99%

Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft

2011

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“…In all of the American missions the astronauts were in the vehicle control loop during rendezvous and docking, while the Russians have been using an automated approach with the pilots having a supervisory role [1]. Automatic docking capability has been successfully tested by Japan during the mission ETS-VII [2]. Moreover, the European Space Agency's automated transfer vehicle is planned to leverage automatic rendezvous and docking capabilities to resupply and reboost the international space station [3].…”

Section: Laboratory Experimentation Of Autonomous Spacecraftmentioning

confidence: 99%

Laboratory Experimentation of Autonomous Spacecraft Approach and Docking to a Collaborative Target

Romano

Friedman

Shay

2006

AIAA Guidance, Navigation, and Control Conference and Exhibit

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A new laboratory test bed is introduced that enables the hardware-in-the-loop simulation of the autonomous approach and docking of a chaser spacecraft to a target spacecraft of similar mass. The test bed consists of a chaser spacecraft and a target spacecraft simulator floating via air pads on a flat floor. The prototype docking interface mechanism of the Defense Advanced Research Projects Agency's Orbital Express mission is integrated on the spacecraft simulators. Relative navigation of the chaser spacecraft is obtained by fusing the measurements from a single-camera vision sensor and an inertial measurement unit, through Kalman filters. The target is collaborative in the sense that a pattern of three infrared light emitting diodes is mounted on it as reference for the relative navigation. Eight cold-gas on-off thrusters are used for the translation of the chaser vehicle. They are commanded using a nonlinear control algorithm based on Schmitt triggers. Furthermore, a reaction wheel is used for the vehicle rotation with a proportional derivative linear control. Experimental results are presented of both an autonomous proximity maneuver and an autonomous docking of the chaser simulator to the nonfloating target.

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“…Space robots will be required for a number of important future missions, such as the construction of large space structures for large space telescopes and space solar power stations and for the repair of disabled spacecraft (Kawano et al 2001;Staritz et al 2001;Whittaker et al 2001;Oda et al 2003;Shoemaker and Wright 2004;Lillie 2006). See Figure 1.…”

Section: Motivationmentioning

confidence: 99%

A Kinematic Approach to Determining the Optimal Actuator Sensor Architecture for Space Robots

Boning¹,

Dubowsky²

2010

The International Journal of Robotics Research

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Autonomous space robots will be required for such future missions as the construction of large space structures and repairing disabled satellites. These robots will need to be precisely controlled. However, factors such as manipulator joint/actuator friction and spacecraft attitude control thruster inaccuracies can substantially degrade control system performance. Sensor-based control algorithms can be used to mitigate the effects of actuator error, but sensors can add substantially to a space system’s weight, complexity, and cost, and reduce its reliability. Here, a method is presented to determine the sensor architecture that uses the minimum number of sensors that can simultaneously compensate for errors and disturbance in a space robot’s manipulator joint actuators, spacecraft thrusters, and reaction wheels. The placement and minimal number of sensors is determined by analytically structuring the system into “canonical chains” that consist of the manipulator links and spacecraft with force/torque sensors placed between the space robot’s spacecraft and its manipulators. These chains are combined to determine the number of sensors needed for the entire system. Examples of one- and two-manipulator space robots are studied and the results are validated by simulation.

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Result of Autonomous Rendezvous Docking Experiment of Engineering Test Satellite-VII

Cited by 109 publications

References 1 publication

Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft

Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft

Laboratory Experimentation of Autonomous Spacecraft Approach and Docking to a Collaborative Target

A Kinematic Approach to Determining the Optimal Actuator Sensor Architecture for Space Robots

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