Concurrent Parameter Identification and Control for Free-Floating Robotic Systems During On-Orbit Servicing

Robotic Manipulation and Capture in Space: A Survey

“Christidi-Loumpasefski, Olga-Orsalia, Rekleitis, Georgios, and Papadopoulos, E., “Concurrent Parameter Identification and Control for Free-Floating Robotic Systems During On-Orbit Servicing,” Proc. IEEE International Conference on Robotics and Automation (ICRA '20), Paris, France, May 31-June 4, 2020.”

 

Abstract:

Space exploration and exploitation will depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities.20 This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of21 space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work in the area of sensing of pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and a number of notable missions and technologies developed for the capture of targets on-orbit.

 

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The project has received funding from the European Union’s Horizon 2020 Research and Innovation  Programme under Grant Agreement No 821904