Soft and minimum reactions robotic capture of non-cooperative spacecrafts

Silvio Cocuzza, Mutian Li, Xiu Yan

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

Abstract

The capture of non-cooperative targets is a key priority for future space robotics missions. Typical operative scenarios are the maintenance and refuelling of malfunctioning satellites or the capture of space debris. In these operative scenarios, one of the key issues to be addressed is the impact force minimization: a null relative velocity of the robot end-effector with respect to the target is required at the time of capture, otherwise either the target or the robotic system could be damaged, the target could be pushed away, or the chaser spacecraft attitude could be destabilized. On the other hand, it is always desirable that the reaction torques transferred by the manipulator to the base spacecraft are minimized, so that a small amount of fuel is used for the attitude recovery, which is required to maintain the communication link with the ground after the robotic manoeuvre, thus increasing the system operating life. In this paper, two novel methods are proposed and compared for capturing a non-cooperative target with a redundant robot and in the meantime transferring a null reaction torque to the base spacecraft. This is a great advantage with respect to the state of the art capture methods, in which the problem of capture and of reactions minimization are handled separately and their integration is not straightforward. In the first method, the robot end-effector follows a parametric trajectory, which parameters are computed in order to have the same direction and speed of the target at the time of capture. On the other hand, in the second method the end-effector trajectory is computed by making the position and velocity error converge to zero inside the inverse kinematics control loop. The proposed methods have been demonstrated and compared by means of dynamic simulations of a 3-degrees-of-freedom planar manipulator. Both of them have shown a good performance and in particular in both cases the manipulator is able to reach the target with the desired end-effector velocity and with a null reaction torque transferred to the base spacecraft.
LanguageEnglish
Title of host publication67th International Astronautical Congress (IAC 2016)
Subtitle of host publicationMaking Space Accessible and Affordable to All Countries
Place of PublicationParis
Pages3748
Publication statusPublished - 26 Sep 2016
Event67th International Astronautical Congress - Expo Guadalajara, Guadalajara, Mexico
Duration: 26 Sep 201630 Sep 2016
Conference number: 67
https://www.iac2016.org

Conference

Conference67th International Astronautical Congress
Abbreviated titleIAC
CountryMexico
CityGuadalajara
Period26/09/1630/09/16
Internet address

Fingerprint

End effectors
Spacecraft
Robotics
Manipulators
Torque
Robots
Trajectories
Space debris
Inverse kinematics
Telecommunication links
Satellites
Recovery
Computer simulation

Keywords

  • space robotics
  • space debris
  • capture

Cite this

Cocuzza, S., Li, M., & Yan, X. (2016). Soft and minimum reactions robotic capture of non-cooperative spacecrafts. In 67th International Astronautical Congress (IAC 2016): Making Space Accessible and Affordable to All Countries (pp. 3748). Paris.
Cocuzza, Silvio ; Li, Mutian ; Yan, Xiu. / Soft and minimum reactions robotic capture of non-cooperative spacecrafts. 67th International Astronautical Congress (IAC 2016): Making Space Accessible and Affordable to All Countries. Paris, 2016. pp. 3748
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Cocuzza, S, Li, M & Yan, X 2016, Soft and minimum reactions robotic capture of non-cooperative spacecrafts. in 67th International Astronautical Congress (IAC 2016): Making Space Accessible and Affordable to All Countries. Paris, pp. 3748, 67th International Astronautical Congress, Guadalajara, Mexico, 26/09/16.

Soft and minimum reactions robotic capture of non-cooperative spacecrafts. / Cocuzza, Silvio; Li, Mutian; Yan, Xiu.

67th International Astronautical Congress (IAC 2016): Making Space Accessible and Affordable to All Countries. Paris, 2016. p. 3748.

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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AU - Yan, Xiu

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N2 - The capture of non-cooperative targets is a key priority for future space robotics missions. Typical operative scenarios are the maintenance and refuelling of malfunctioning satellites or the capture of space debris. In these operative scenarios, one of the key issues to be addressed is the impact force minimization: a null relative velocity of the robot end-effector with respect to the target is required at the time of capture, otherwise either the target or the robotic system could be damaged, the target could be pushed away, or the chaser spacecraft attitude could be destabilized. On the other hand, it is always desirable that the reaction torques transferred by the manipulator to the base spacecraft are minimized, so that a small amount of fuel is used for the attitude recovery, which is required to maintain the communication link with the ground after the robotic manoeuvre, thus increasing the system operating life. In this paper, two novel methods are proposed and compared for capturing a non-cooperative target with a redundant robot and in the meantime transferring a null reaction torque to the base spacecraft. This is a great advantage with respect to the state of the art capture methods, in which the problem of capture and of reactions minimization are handled separately and their integration is not straightforward. In the first method, the robot end-effector follows a parametric trajectory, which parameters are computed in order to have the same direction and speed of the target at the time of capture. On the other hand, in the second method the end-effector trajectory is computed by making the position and velocity error converge to zero inside the inverse kinematics control loop. The proposed methods have been demonstrated and compared by means of dynamic simulations of a 3-degrees-of-freedom planar manipulator. Both of them have shown a good performance and in particular in both cases the manipulator is able to reach the target with the desired end-effector velocity and with a null reaction torque transferred to the base spacecraft.

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BT - 67th International Astronautical Congress (IAC 2016)

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Cocuzza S, Li M, Yan X. Soft and minimum reactions robotic capture of non-cooperative spacecrafts. In 67th International Astronautical Congress (IAC 2016): Making Space Accessible and Affordable to All Countries. Paris. 2016. p. 3748