Space robots have always been a primary choice for outer space missions including debris capturing and removal and on-orbit servicing. Modeling and control of a space robot is quite challenging as compared to its terrestrial counterpart, because of the dynamic coupling effects. The dynamic equations of motion of the chaser spacecraft are derived in the target frame. The relative motion between the two spacecraft is given by the Hills equations. The along-track formation is used to perform the close-range maneuver. A span morphing arm is used for the debris capturing to ensure a safe distance between the chaser and the target. Arm joints follow a quintic polynomial trajectory. Spacecraft has two operating modes, controlled floating mode and free-flying mode during close-range maneuvering and debris-capturing processes, respectively. Two separate PD controllers are used for both the chaser and the robotic arm. The controller is able to get the desired results by following the reference trajectory while the error is contained within the specified limits.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Trajectory Tracking Control of Morphing Space Robot for Space Debris Capture


    Additional title:

    Lect.Notes Mechanical Engineering



    Conference:

    ISME International Conference on Advances in Mechanical Engineering ; 2023 ; Bengaluru, India July 13, 2023 - July 15, 2023



    Publication date :

    2024-07-27


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Trajectory Optimization and Tracking Control of a Morphing Aircraft

    Dai, Pei / Yan, Binbin / Pang, Minghui et al. | IEEE | 2020


    Motion Planning and Control of a Space Robot to Capture a Tumbling Debris

    Dubanchet, Vincent / Saussié, David / Alazard, Daniel et al. | Springer Verlag | 2015


    Future Space Debris Tracking Requirements

    Smith, Craig H. / Greene, Ben | AIAA | 2015


    MORPHING TENSEGRITY SPACE PLATFORMS

    Roffman, Kaila M. / Lesieutre, George A. | TIBKAT | 2021


    Space Debris Removal Trajectory Design using Lambert’s Problem

    Shukla, Harshit / Gupta, Akansha / Vashisht, Yajat | AIAA | 2023