Trajectory Generation for Satellite Capture Using a Redundant Manipulator
One important area for application of space robotics is autonomous on-orbit servicing of failed or failing spacecraft. In this work, we describe laboratory experiments that verify the feasibility of autonomous capture of a slowly spinning non-cooperative satellite by a manipulator. The developed algorithms have been implemented and tested with the Canadian Space Agency’s Automation and Robotics Test-bed, a two-arm, seven degree-of-freedom (dof) each, manipulator system. In the first phase of this work, a redundancy resolution scheme was implemented to maximize the robots’ manipulability and increase their functional workspace. In the second phase, an online vision-based trajectory generation algorithm generating a velocity command to safely approach the target satellite and match its motion was developed. An overview of this work and the important results are presented.
KeywordsInternational Space Station Trajectory Generation Joint Velocity Gradient Projection Method Joint Limit
Unable to display preview. Download preview PDF.
- T. Laliberté and C.M. Gosselin. Under actuation in space robotic hands. In Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space: i-SAIRAS 2001, St-Hubert, Quebec, Canada, 2001.Google Scholar
- G. Marani, J. Kim, J. Yuh, and W. K. Chung. Algorithmic singularities avoidance in task-priority based controller for redundant manipulator. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3570–3574, 2003.Google Scholar
- É. Martin, É. Dupuis, J.-C. Piedboeuf, and M. Doyon. The tecsas mission from a canadian perspective. In Proceeding of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space: i-SAIRAS 2005, Munich, Germany, 2005.Google Scholar
- M. Mehrandezh, N. M. Sela, R. G. Fenton, and B. Benhabib. Robotic interception of moving objects using an augmented ideal proportional navigation guidance technique. IEEE Transaction on Systems, Man, and Cybernetics-Part A: Systems and Humans, 30, 2000.Google Scholar
- Y. Nakamura. Advanced Robotics: Redundancy and Optimization. Addison-Wesley, Reading, MA, USA, 1991. ISBN 0-201-15198-7.Google Scholar
- B.J. Nelson and P.K. Khosla. Increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance. In IEEE International Conference on Robotics and Automation, volume 3, pages 418–423, May 1993.Google Scholar
- F. Ranjbaran, F. Shadpey, K. Khial, J.-C. Piedboeuf, S. Kalaycioglu, and M. Dub. Csa automation and robotics test bed-current capabilities. In Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space: i-SAIRAS 2001, St-Hubert, Quebec, Canada, 2001.Google Scholar
- C. Samson, C. English, A. Deslauriers, I. Christie, F. Blais, and F. Ferrie. The neptec three-dimensional laser camera system: From space mission sts-105 to terrestrial applications. In Canadian Aeronautics and Space Journal, volume 50, pages 115–123, June 2004.Google Scholar
- D.A. Whelan, E.A. Adler, S.B. Wilson, and G.M Roesler. Darpa orbital express program: effecting a revolution in space-based systems. In Small Pay loads in Space, volume 136, pages 48–56, November 2000.Google Scholar