Robotic capabilities for complex space operations

Akin, David L.; Roberts, Robert E.; Lane, J. Corde; Weisman, Steven J.

doi:10.2514/6.2001-4538

Cited by 12 publications

(8 citation statements)

References 2 publications

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“…At present, many organizations [9][10][11][12] are conducting research on connection technology using space small-scale targets. The autonomous micro-satellite docking system (AMDS) [13,14], developed by the Orbital Express (OE) project, utilized soft-docking technology [15] to buffer the impact.…”

Section: Introductionmentioning

confidence: 99%

Design Analysis of a Passive Buffer System for Space-Assembled Segmented Mirrors

Wang

Shi

et al. 2019

Applied Sciences

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This paper presents a passive buffer system of connection mechanism for space-assembled segmented mirrors. The purpose of assembling telescope in space is to overcome the limits of launch volume and mass to support ever increasing aperture sizes. Using this buffer system, the docking impact between two mirror segments can be alleviated effectively. In this paper, first, a design methodology called “double-elastic contact model” is developed. Then, the design details and operation principle of the connection mechanism, are presented to validate the passive buffer system. Finally, by comparing the traditional docking system, the simulated results of dynamic performance show that the proposed buffer system can absorb the impact energy effectively and is considerably suitable for assembling the space optical system.

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Section: Introductionmentioning

confidence: 99%

Design Analysis of a Passive Buffer System for Space-Assembled Segmented Mirrors

Wang

Shi

et al. 2019

Applied Sciences

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“…Additionally, the space robot can also perform other on-orbit servicing missions such as repair, assembly, refueling, and/or upgrade of spacecraft. This leads to development of space robot techniques [1][2][3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

End-Effector Trajectory Tracking Control of Space Robot withL2Gain Performance

Zhang¹,

Wang²,

Wei³

et al. 2015

Mathematical Problems in Engineering

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This paper presents a novel solution to the control problem of end-effector robust trajectory tracking for space robot. External disturbance and system uncertainties are addressed. For the considered robot operating in free-floating mode, a Chebyshev neural network is introduced to estimate system uncertainties and external disturbances. An adaptive controller is then proposed. The closed-loop system is guaranteed to be ultimately uniformly bounded. The key feature of this proposed approach is that, by choosing appropriate control gains, it can achieve any given small level ofL2gain disturbance attenuation from external disturbance to system output. The tracking performance is evaluated through a numerical example.

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“…BAT was designed to assemble the six element tetrahedral truss structure of STS-61-B EASE (Experimental Assembly of Structures in EVA). [1] AMPHIS is a project developed at the US Naval Postgraduate School Spacecraft Robotics Laboratory. The program seeks to validate spacecraft systems technology, navigation techniques and control approaches using the ground testbed.…”

Section: Literature Reviewmentioning

confidence: 99%

Assembly of a Large Modular Optical Telescope (ALMOST)

Miller

Mohan

Budinoff

2008

Space Telescopes and Instrumentation 2008: Optical, Infrared, and Millimeter

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Future space telescope programs need to assess in-space robotic assembly of large apertures at GEO and ESL2 to support ever increasing aperture sizes. Since such large apertures will not fit within a fairing, they must rely on robotic assembly/deployment. Proper assessment requires hardware-in-the-loop testing in a representative environment. Developing, testing, and flight qualifying the myriad of technologies needed to perform such a test is complex and expensive using conventional means. Therefore, the objective of the ALMOST program is to develop a methodology for hardware-in-the-loop assessment of in-space robotic assembly of a telescope under micro-gravity conditions in a more cost-effective and risk-tolerant manner. The approach uses SPHERES, currently operating inside ISS, to demonstrate inspace robotic assembly of a telescope that will phase its primary mirror to optical tolerances to compensate for assembly misalignment. Such a demonstration, exploiting the low cost and risk of SPHERES, will dramatically improve the maturity of the guidance, navigation and control algorithms, as well as the mechanisms and concept of operations, needed to properly assess such a capability.

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Robotic capabilities for complex space operations

Cited by 12 publications

References 2 publications

Design Analysis of a Passive Buffer System for Space-Assembled Segmented Mirrors

Design Analysis of a Passive Buffer System for Space-Assembled Segmented Mirrors

End-Effector Trajectory Tracking Control of Space Robot withL2Gain Performance

Assembly of a Large Modular Optical Telescope (ALMOST)

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