Kinematic Indices of rotation-floating space robots for on-orbit servicing

  • Mathieu RognantEmail author
  • Sofiane Kraiem
  • Jurek Sasiadek
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


There is a growing need for space and in-orbit operations that would require use of advance robotic systems. The robotics systems could be used in debris removal from orbits, as well as, in on-orbit servicing activities. This paper is addressing design and control problems related to autonomous spacecraft-manipulator system for space operation. The dynamics equations for rotation floating manipulator were introduced using Lagrange approach with additional states representing the kinetic moment exchange actuators. In this paper, a serial-link manipulator with multi degree of freedoms mounted on the satellite platform was used. For detailed analysis of base motion and manipulability of the end effector, the special indices were introduced. Simulation examples to illustrate kinematic indices were shown with physical parameters for a microsatellite from Myriade series equipped with a robotic arm.


Space robot On-orbit servicing Kinematic indices 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Mathieu Rognant
    • 1
    Email author
  • Sofiane Kraiem
    • 2
  • Jurek Sasiadek
    • 3
  1. 1.ONERAToulouseFrance
  2. 2.ISAE SUPAEROToulouseFrance
  3. 3.Carleton UniversityOttawaCanada

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