Synthesis of the Program Motion of a Robotic Space Module Acting as the Element of an Assembly and Servicing System for Emerging Orbital Facilities

  • Y. N. Artemenko
  • Anatoliy P. Karpenko
  • P. P. Belonozhko
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 174)


Problem statement: the group use of emerging SEMS devices, i.e., robotic assembly and servicing space modules (RASSM), involves solving the task of synthesizing a program motion for each RASSM, taking into account its own inertial motions in terms of internal mobility degrees. It was previously shown for the model case of the plane motion of an RASSM equipped with an one degree of freedom manipulator with a load in the gripper that in the absence of the forces and moments external to the “base-manipulator-load” system in the study of a controlled relative motion, it is appropriate to introduce a given system into consideration. For the initial system’s nonzero kinetic moment determined by the initial conditions and remaining constant due to the momentum conservation principle, the given system is a nonlinear oscillatory system qualitatively similar to a mathematical pendulum. In this case, the kinetic energy of the initial system can be interpreted as the total energy of the given system, which is the sum of the kinetic and potential components. In absence of a control moment in the hinge, there is an energy integral of the equation for the given system, i.e., the equation of a phase trajectory family. The problems of the synthesis of program motions for an RASSM-associated nonlinear oscillating given system have been investigated. In particular, the pulse control option, which provides a transition to the required point of a phase plane by transferring the image point to the corresponding phase trajectory over a negligible time range, has been studied. Practical significance: the results obtained are of interest from the viewpoint of implementing the important principle of organizing the movement of robots—coordination of free and forced manipulator movements—in the synthesis of control for a robotic space module as an element of an assembly and servicing system for emerging orbital facilities.


Robotic assembly and servicing space modules The given system Optimum control in terms of energy consumption 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Y. N. Artemenko
    • 1
  • Anatoliy P. Karpenko
    • 2
  • P. P. Belonozhko
    • 2
  1. 1.The Astrospace Center of P. N. Lebedev Physical Institute, Russian Academy of SciencesMoscowRussia
  2. 2.Bauman Moscow State Technical UniversityMoscowRussia

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