Laboratory experiments of resident space object capture by a spacecraft-manipulator system
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Authors
Virgili-Llop, Josep
Drew, Jerry V.
Zappulla, Richard II
Romano, Marcello
Subjects
Space robotics
Hardware-in-the-loop
Guidance and control
Hardware-in-the-loop
Guidance and control
Advisors
Date of Issue
2017
Date
Publisher
Elsevier
Language
Abstract
A set of laboratory experiments are conducted to demonstrate the autonomous capture of a simulated resident space object by a simulated spacecraft equipped with a robotic manipulator. A planar air-bearing test bed provides a quasi-weightless and drag-free dynamic environment on a plane. To control the chaser’s base, floating, flying, and rotation-flying control approaches are implemented and compared. A resolved-motion-rate controller is used to control the manipulator’s joints. Using these control methods a floating object at rest is successfully captured. Furthermore, the capture of a floating and rotating object is demonstrated using a flying base control approach. The originality of these experiments comes from the remarkably high dynamic coupling of the spacecraft-manipulator system used. Emphasis is given to the guidance and control problems, with the relative navigation problem being left outside the scope of this effort.
Type
Article
Description
The article of record as published may be found at http://dx.doi.org/10.1016/j.ast.2017.09.043
Series/Report No
Department
Spacecraft Robotics Laboratory
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
16 p.
Citation
J. Virgili-Llop, J.V. Drew, R.Zappulla II, M. Romano, "Laboratory experiments of resident space object capture by a spacecraft-manipulator system," v.71 (2017), pp. 530-545.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.