Linear controllers for free-flying and controlled-floating space robots: a new perspective

Mohamed, Amr, Saaj, Chakravarthini, Seddaoui, Asma and Nair, Manu (2020) Linear controllers for free-flying and controlled-floating space robots: a new perspective. Aeronautics and Aerospace Open Access Journal, 4 (3). pp. 97-114. ISSN 2576-4500

Full content URL: https://doi.org/10.15406/aaoaj.2020.04.00112

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Linear controllers for free-flying and controlled-floating space robots: a new perspective
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Abstract

Autonomous space robots are crucial for performing future in-orbit operations, including
servicing of a spacecraft, assembly of large structures, maintenance of other space assets
and active debris removal. Such orbital missions require servicer spacecraft equipped with
one or more dexterous manipulators. However, unlike its terrestrial counterpart, the base
of the robotic manipulator is not fixed in inertial space; instead, it is mounted on the base�spacecraft, which itself possess both translational and rotational motions. Additionally, the
system will be subjected to extreme environmental perturbations, parametric uncertainties
and system constraints due to the dynamic coupling between the manipulator and the
base-spacecraft. This paper presents the dynamic model of the space robot and a three�stage control algorithm for this highly dynamic non-linear system. In this approach, feed�forward compensation and feed-forward linearization techniques are used to decouple and
linearize the highly non-linear system respectively. This approach allows the use of the
linear Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator
(LQR) in the final stages. Moreover, this paper covers a simulation-based trade-off analysis
to determine both proposed linear controllers’ efficacy. This assessment considers precise
trajectory tracking requirements whilst minimizing power consumption and improving
robustness during the close-range operation with the target spacecraft.

Keywords:space robot, in-orbit operation, robotic manipulator
Subjects:H Engineering > H660 Control Systems
H Engineering > H643 Satellite Engineering
H Engineering > H671 Robotics
Divisions:College of Science > School of Engineering
ID Code:48336
Deposited On:22 Feb 2022 10:28

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