This paper presents an analysis of the capture of an uncontrolled target satellite by a manipulator mounted on a chaser spacecraft. We compare our novel technique, called tangent capture, with two other well-known approaches: free-floating and forced synchronous motion. In the proposed approach, the chaser has only initial linear velocity. The analysis takes the form of a numerical simulation performed on a three-dimensional system. Performance is evaluated using three parameters: (i) control torques in the manipulator’s joints; (ii) time to eventual collision between system components; and (iii) reaction torque and force in the gripper. The evaluation demonstrates that the tangent capture scenario improves the values of all analyzed parameters.


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    Titel :

    Space Robot Performance During Tangent Capture of an Uncontrolled Target Satellite


    Weitere Titelangaben:

    J Astronaut Sci


    Beteiligte:
    Seweryn, Karol (Autor:in) / Basmadji, Fatina L. (Autor:in) / Rybus, Tomasz (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.08.2022


    Format / Umfang :

    31 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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