This paper describes a novel concept of operations, payload hardware, terminal navigation strategy, and localized vision scheme for autonomous release of a snagged solar array using a robotic servicing spacecraft. The hardware suite on the servicer consists of two robot arms, end effector cameras, a scanning laser sensor, two local fixed lasers, an end effector fiducial tool, and various active light sources for long-range and localized target illumination. The concept of operations consists of a terminal approach phase, a servicer preparation phase, and an array release phase. The scanning laser sensor is used throughout all phases to determine target pose, whereas the end effector cameras are used during the approach phase for variable baseline stereo ranging and during the release phase for localized scene imaging and arm guidance. Realistic full-scale laboratory tests in a six-degree-of-freedom relative navigation and control testbed demonstrate the complex integration and interaction of close-range autonomous relative navigation, cooperative dual-arm robotics, and localized machine vision necessary to perform such a task.
Autonomous Release of a Snagged Solar Array: Technologies and Laboratory Demonstration
Journal of Spacecraft and Rockets ; 51 , 1 ; 86-95
2013-12-10
10 pages
Article (Journal)
Electronic Resource
English
Autonomous Release of a Snagged Solar Array: Technologies and Laboratory Demonstration
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