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

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Authors
Virgili-Llop, Josep
Drew, Jerry V.
Zappulla, Richard II
Romano, Marcello
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2016-09
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13-16 September 2016
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Abstract
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.
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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
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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.
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