Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments
Drew, Jerry V.
Zappulla, Richard II
MetadataShow full item record
This paper describes a set of laboratory-based experiments, which demonstrate the autonomous capture of a non-moving resident space object by a spacecraft equipped with a single robotic manipulator. An air bearing test bed is used to simulate weightlessness and frictionless maneuvering on a plane. The chaser is composed by a floating spacecraft simulator carrying a kinematically redundant four-link serial manipulator. The manipulator mass is similar to the mass of its base-spacecraft, resulting in an unusually large dynamic coupling. Emphasis is given to the guidance and control, demonstrating floating, flying and rotation-flying coordinated control strategies. A resolved-motion-rate controller regulates the manipulator joint velocities. The relative navigation problem, solved by the test bed metrology system, has been left outside the scope of this effort. The presented experiments increase the number of space robotics experimental evaluations conducted in dynamically representative environments.
AIAA/AAS Astrodynamics Specialist Conference, Long Beach, CA. The article of record may be found at:http://arc.aiaa.org | DOI: 10.2514/6.2016-5269
RightsThis 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.
Showing items related by title, author, creator and subject.
Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer's Tutorial Wilde, Markus; Choon, Stephen Kwok; Grompone, Alessio; Romano, Marcello (www.frontiersin.org, 2018-04);The paper provides a step-by-step tutorial on the Generalized Jacobian Matrix (GJM) approach for modeling and simulation of spacecraft-manipulator systems. The General Jacobian Matrix approach describes the motion of the ...
MECHATRONICS: THE DEVELOPMENT, ANALYSIS, AND GROUND-BASED DEMONSTRATIONS OF ROBOTIC SPACECRAFT HOPPING WITH A MANIPULATOR Komma, Justin L. (Monterey, CA; Naval Postgraduate School, 2018-12);Astrobee is a robot designed by Intelligent Robotics Group at NASA Ames Research Center to operate inside of the International Space Station (ISS). The robot has a manipulator that is made up of various mechanical, electronic, ...
Design and control of a space based two link manipulator with Lyapunov based control laws Sorensen, Dennis R. (Monterey, California. Naval Postgraduate School, 1992-09);The Flexible Spacecraft Simulator (FSS) at the Naval Postgraduate School was modified by replacing the flexible appendage with a two link robotic manipulator. This experimental setup was designed to simulate motion of a ...