Application of Impedance Control in Robotic Manipulators for Spacecraft On-orbit Servicing
On-orbit satellite servicing is a technology that is expected to transform the space sector in the coming years. Space robotics is a promising approach to refuel, repair, update, and transport satellites on orbit. However, safe and reliable docking with the client satellite, needed as part of most s...
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Published in | 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) pp. 836 - 842 |
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Main Authors | , , , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.09.2019
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Subjects | |
Online Access | Get full text |
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Summary: | On-orbit satellite servicing is a technology that is expected to transform the space sector in the coming years. Space robotics is a promising approach to refuel, repair, update, and transport satellites on orbit. However, safe and reliable docking with the client satellite, needed as part of most servicing operations, is still considered a challenge. This paper presents an autonomous robot-based approach for this purpose. An impedance control strategy is added to the controller of a conventional robotic manipulator to allow compliant and safe manipulation of a spacecraft docking mechanism. This setup is expected to facilitate autonomous docking and manipulation operations with cooperative and non-cooperative on-orbit serviced satellites. Platform-art © , a dynamic test bench for hardware-in-the-loop validation of space GNC technologies is used to test the proposed approach. |
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ISSN: | 1946-0759 |
DOI: | 10.1109/ETFA.2019.8869069 |