Cargando…

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector�...

Descripción completa

Detalles Bibliográficos
Autores principales: Virgili-Llop, Josep, Romano, Marcello
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805840/
https://www.ncbi.nlm.nih.gov/pubmed/33501030
http://dx.doi.org/10.3389/frobt.2019.00014
_version_ 1783636392664891392
author Virgili-Llop, Josep
Romano, Marcello
author_facet Virgili-Llop, Josep
Romano, Marcello
author_sort Virgili-Llop, Josep
collection PubMed
description A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material.
format Online
Article
Text
id pubmed-7805840
institution National Center for Biotechnology Information
language English
publishDate 2019
publisher Frontiers Media S.A.
record_format MEDLINE/PubMed
spelling pubmed-78058402021-01-25 Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System Virgili-Llop, Josep Romano, Marcello Front Robot AI Robotics and AI A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material. Frontiers Media S.A. 2019-03-27 /pmc/articles/PMC7805840/ /pubmed/33501030 http://dx.doi.org/10.3389/frobt.2019.00014 Text en Copyright © 2019 Virgili-Llop and Romano. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Virgili-Llop, Josep
Romano, Marcello
Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
title Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
title_full Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
title_fullStr Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
title_full_unstemmed Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
title_short Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System
title_sort simultaneous capture and detumble of a resident space object by a free-flying spacecraft-manipulator system
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805840/
https://www.ncbi.nlm.nih.gov/pubmed/33501030
http://dx.doi.org/10.3389/frobt.2019.00014
work_keys_str_mv AT virgilillopjosep simultaneouscaptureanddetumbleofaresidentspaceobjectbyafreeflyingspacecraftmanipulatorsystem
AT romanomarcello simultaneouscaptureanddetumbleofaresidentspaceobjectbyafreeflyingspacecraftmanipulatorsystem