Space Debris Reliable Capturing by a Dual-Arm Orbital Robot: Detumbling and Caging
arxiv(2024)
摘要
A chaser satellite equipped with robotic arms can capture space debris and
manipulate it for use in more advanced missions such as refueling and
deorbiting. To facilitate capturing, a caging-based strategy has been proposed
to simplify the control system. Caging involves geometrically constraining the
motion of the target debris, and is achieved via position control. However, if
the target is spinning at a high speed, direct caging may result in
unsuccessful constraints or hardware destruction; therefore, the target should
be de-tumbled before capture. To address this problem, this study proposes a
repeated contact-based method that uses impedance control to mitigate the
momentum of the target. In this study, we analyzed the proposed detumbling
technique from the perspective of impedance parameters. We investigated their
effects through a parametric analysis and demonstrated the successful
detumbling and caging sequence of a microsatellite as representative of space
debris. The contact forces decreased during the detumbling sequence compared
with direct caging. Further, the proposed detumbling and caging sequence was
validated through simulations and experiments using a dual-arm air-floating
robot in two-dimensional microgravity emulating testbed.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要