Authors:
Tomasz Rybus
1
;
Karol Seweryn
1
and
Jurek Z. Sąsiadek
2
Affiliations:
1
Space Research Centre (CBK PAN), Poland
;
2
Carleton University, Canada
Keyword(s):
Space Robotics, Free-floating Space Manipulator, Trajectory Optimization, On-orbit Servicing.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Optimization Algorithms
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Space and Underwater Robotics
Abstract:
Planned active debris removal and on-orbit servicing missions require capabilities for capturing objects on Earth’s orbit, e.g., by the use of a manipulator. In this paper we demonstrate the application of a trajectory optimization algorithm for free-floating satellite-manipulator systems in two cases: a planar system with 2 degrees of freedom manipulator and a spatial system with a manipulator having four degrees of freedom. For the case with planar system, results of experiments performed on an air-bearing microgravity simulator are shown. Quadratic norm connected with the power consumption of manipulator motors has been used as a cost functional that is minimized. Optimal trajectories are compared with straight-line trajectories and it is shown that the optimization allows reduction of the power use of manipulator motors (for the planar system 30 trajectories based on randomly selected initial and final end-effector positions were analysed and the cost functional was, on average,
reduced by 49.4%). The presented method could be modified by using cost functional that would, e.g., minimize disturbance on the satellite.
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