Romansy 16 pp 413-420 | Cite as

Trajectory Generation for Satellite Capture Using a Redundant Manipulator

  • Guy Rouleaut
  • Eric Martin
  • Inna Sharf
Part of the CISM Courses and Lectures book series (CISM, volume 487)


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.


International Space Station Trajectory Generation Joint Velocity Gradient Projection Method Joint Limit 


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Copyright information

© Canadian Space Agency 2006

Authors and Affiliations

  • Guy Rouleaut
    • 1
    • 2
  • Eric Martin
    • 1
  • Inna Sharf
    • 2
  1. 1.Canadian Space AgencySt-HubertCanada
  2. 2.Department of Mechanical EngineeringMcGill UniversityMontrealCanada

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