Space Robotics Tools

Grasping of a tumbling target satellite (DEOS/TECSAS)

We consider three modes of operation for the grasping of a tumbling satellite: tele-operated, autonomous and semi-autonomous. The tumbling motion of the target satellite is justified by a malfunctioning of its control system, for which a small constant rotation and nutation may result.

Motion Parameter Estimation for a Tumbling Satellite using a Model Based Approach

In this section a brief overview of the methodology considered for the motion parameter estimation for a tumbling satellite is described.

Path planning for free-floating robots – from local workspace to global workspace

The path planning method developed to date involves an optimization algorithm which, to minimize the spacecraft fuel expenditure, makes full use of the free-floating robot dynamics. Free-flying robots will eventually have to move out of their free-floating status, for which the base body is not actuated, to be able to reach points outside of their local workspace.

Development of Tele-operation Control for a Free-floating Robot during the Grasping of a Tumbling Target

this section some of the work carried out on the development of a simulator for the implementation of the inverse kinematics of a free-floating robot with a redundant manipulator (7 DoF) is presented. Note the distinction between free-floating and free-flying, being that for the former control actions on the base body are absent, while for the latter they are not.

Development of a simulator for the tele-operation control of a docking maneuver between two satellites in geostationary orbit

A real-time simulation is under development for the analysis of docking maneuvers in geostationary orbit. Attention is given to the effects arising from: