Modeling a Controlled-Floating Space Robot for In-Space Services: A Beginner’s Tutorial

Seddaoui, Asma, Saaj, Chakravarthini Mini and Nair, Manu Harikrishnan (2021) Modeling a Controlled-Floating Space Robot for In-Space Services: A Beginner’s Tutorial. Frontiers in Robotics and AI, 8 . ISSN 2296-9144

Full content URL: https://doi.org/10.3389/frobt.2021.725333

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Modeling a Controlled-Floating Space Robot for In-Space Services: A Beginner’s Tutorial
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Abstract

Ground-based applications of robotics and autonomous systems (RASs) are fast
advancing, and there is a growing appetite for developing cost-effective RAS solutions
for in situ servicing, debris removal, manufacturing, and assembly missions. An orbital
space robot, that is, a spacecraft mounted with one or more robotic manipulators, is an
inevitable system for a range of future in-orbit services. However, various practical
challenges make controlling a space robot extremely difficult compared with its
terrestrial counterpart. The state of the art of modeling the kinematics and dynamics of
a space robot, operating in the free-flying and free-floating modes, has been well studied
by researchers. However, these two modes of operation have various shortcomings,
which can be overcome by operating the space robot in the controlled-floating mode. This
tutorial article aims to address the knowledge gap in modeling complex space robots
operating in the controlled-floating mode and under perturbed conditions. The novel
research contribution of this article is the refined dynamic model of a chaser space robot,
derived with respect to the moving target while accounting for the internal perturbations
due to constantly changing the center of mass, the inertial matrix, Coriolis, and centrifugal
terms of the coupled system; it also accounts for the external environmental disturbances.
The nonlinear model presented accurately represents the multibody coupled dynamics of
a space robot, which is pivotal for precise pose control. Simulation results presented
demonstrate the accuracy of the model for closed-loop control. In addition to the
theoretical contributions in mathematical modeling, this article also offers a
commercially viable solution for a wide range of in-orbit missions.

Keywords:space robot, controlled floating, free floating, free flying
Subjects:H Engineering > H643 Satellite Engineering
H Engineering > H671 Robotics
Divisions:College of Science > School of Engineering
ID Code:48335
Deposited On:21 Feb 2022 10:35

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