Survey of modeling, planning, and ground verification of space robotic systems

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

“…1,2,[5][6][7] The difficulty of recreating the dynamic conditions of a space-based manipulator in a laboratory environment has limited the availability of validation experiments of autonomous capture maneuvers by highly dynamically coupled space manipulator systems. Even without considering systems with high dynamic coupling, this type of experiments have been scarce.…”

A minimum state multibody/FEM approach for modeling flexible orbiting space systems

“…Liu et al [12] proposed an optimal path planning and control methods to capture a noncooperative target. Xu et al [13] conducted a comprehensive survey of the literature on the modeling, planning and ground verification of space robotic systems. According to different control strategies of the base, a space robot may be operated in four different modes [14].…”

Laboratory experiments of resident space object capture by a spacecraft–manipulator system

“…Using this decomposition, the equations of motion can be expanded as shown in Eq. (2). The generalized forces can also be decomposed τ = [τ 0 τ m ]…”

“…Extensive analytic work and numerical simulations have been devoted to the modeling and control of spacecraft-manipulator systems, chiefly focusing on RSO capture [1][2][3]. The scarcity of suitable test facilities to recreate the complex dynamic phenomena [4,5] has made the equivalent experimental-based work exceedingly rare [6][7][8][9][10][11][12][13][14][15].…”