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![Contact interfaces for robotic berthing the H-II Transfer Vehicle (HTV) to the ISS [85].](profile/Khanh-Pham-25/publication/261186725/figure/fig4/AS:1178150088253460@1657904278226/Contact-interfaces-for-robotic-berthing-the-H-II-Transfer-Vehicle-HTV-to-the-ISS-85.png)
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![Fig. 8. ATLAS robotic servicer concept [77].](profile/Khanh-Pham-25/publication/261186725/figure/fig3/AS:1178150088253452@1657904278093/ATLAS-robotic-servicer-concept-77_Q320.jpg)
Space robotics is considered one of the most promising approaches for on-orbit servicing (OOS) missions such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbital debris removal. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed...
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... and is still an active research subject. An early application of contact dynamics in space robots was reported in [84], where, assuming a point contact scenario, the contact force is modeled as an impulse function. However, the main modeling difficulties arise from the complicated geometries of the contact interfaces such as the ones shown in Fig. 9. Thus, Ma et al. [85,86] developed a generic contact dynamics modeling and simulation system to support the development and operations of the ISS robotic systems SSRMS and SPDM. They further developed a model reduction technique to improve the efficiency of highfidelity but usually very time-consuming contact dynamics simulations [87]. ...
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... Finally, the system has to be able to deal with the inevitable time delay from a hardware contact to the corresponding simulation-driven reaction at the tip of the facility robot (not the immediate and passive reaction of the facility robot). Nevertheless, some researchers have proposed techniques to handle the HIL time delay problem [369,370]. Fig. 19 shows some of the above-described HIL simulation ...
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![Fig. 2: Complete control diagram where M 1 = [0 1] and M 2 = [0 0 1].](profile/Vicenc-Puig/publication/321487914/figure/fig2/AS:567687091032064@1512358557150/Complete-control-diagram-where-M-1-0-1-and-M-2-0-0-1_Q320.jpg)
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In this paper, we focus on distributed cohesive motion control of 3-dimensional multi-vehicle systems considering individual agent dynamic behaviors as well as the overall multi-vehicle system. In this context, we examine maintenance of geometric formation of a swarm of autonomous quadrotor vehicles, i.e. maintenance of the distance between each ag...
Citations
... On-orbit service presents new opportunities for upgrading, refueling, repair, maintenance, and inspection of spacecraft [1][2]. A concept design of large-scale multifunctional on-orbit service stations has been presented in [3], which consists of satellites, deployable space platforms, service robots, and large maintenance robotic arms, etc. ...
This paper studies a special deployable 7R single-loop mechanism (SLM), which is characterized by its overconstraints, 1-DOF, and single-loop structure. Based on these characteristics, a series of performance evaluation indices, including the overconstraint performance, input and output motion/force transmission performance, and deploying/folding ratio, are proposed to evaluate its performance. To analyze these performances, the kinematics of the 7R SLM are analyzed. Then these performance indices are used to evaluate the 7R SLM. The performance analysis result shows that the mechanism exhibits excellent performance. A 3D-printed prototype of the 7R overconstrained SLM is presented and used to assemble a deployable module. Their deploying motion verifies the assembly capability and deployability of the mechanism and its potential as a basic unit to construct more complex overconstrained deployable mechanisms for aerospace platforms. This study plays a significant role in the analysis, design, and optimization of overconstrained SLMs, while also providing theoretical support for applications in aerospace platforms and other related fields.
... Furthermore, RoA analysis could be an interesting tool enabling controller composition in the spirit of [18], where it could be used to allow for safe transitioning from one phase of a maneuver to the next. For example, considering a robotic ADR scenario consisting of a final approach, capture, and a post-capture/detumble phase [19], determining the set of stabilizable states of the closed-loop dynamics during each phase is beneficial. Doing so allows the connection of each individual phase to the subsequent one while ensuring the stability of the entire ADR maneuver (depicted in Figure 2). ...
Future Active Debris Removal (ADR) and On Orbit Servicing (OOS) missions demand for elaborate closed loop controllers. Feasible control architectures should take into consideration the inherent coupling of the free floating dynamics and the kinematics of the system. Recently, Time-Varying Linear Quadratic Regulators (TVLQR) have been used to stabilize underactuated systems that exhibit a similar kinodynamic coupling. Furthermore, this control approach integrates synergistically with Lyapunov based region of attraction (ROA) estimation, which, in the context of ADR and OOS, allows for reasoning about composability of different sub-maneuvers. In this paper, TVLQR was used to stabilize an ADR detumbling maneuver in simulation. Moreover, the ROA of the closed loop dynamics was estimated using a probabilistic method. In order to demonstrate the real-world applicability for free floating robots, further experiments were conducted onboard a free floating testbed.
... Space rendezvous and docking stands as a critical focal point of on-orbit services, enabling tasks such as spacecraft assembly and maintenance. These activities significantly contribute to prolonging the operational lifespan of space vehicles and enhancing their mission capabilities [1]. Visual navigation plays a pivotal role in on-orbit services, facilitating a range of tasks including attitude measurement [2], component identification [3], and visual multi-sensor fusion [4]. ...
In the domain of space rendezvous and docking, visual navigation plays a crucial role. However, practical applications frequently encounter issues with poor image quality. Factors such as lighting uncertainties, spacecraft motion, uneven illumination, and excessively dark environments collectively pose significant challenges, rendering recognition and measurement tasks during visual navigation nearly infeasible. The existing image enhancement methods, while visually appealing, compromise the authenticity of the original images. In the specific context of visual navigation, space image enhancement’s primary aim is the faithful restoration of the spacecraft’s mechanical structure with high-quality outcomes. To address these issues, our study introduces, for the first time, a dedicated unsupervised framework named SpaceLight for enhancing on-orbit navigation images. The framework integrates a spacecraft semantic parsing network, utilizing it to generate attention maps that pinpoint structural elements of spacecraft in poorly illuminated regions for subsequent enhancement. To more effectively recover fine structural details within these dark areas, we propose the definition of a global structure loss and the incorporation of a pre-enhancement module. The proposed SpaceLight framework adeptly restores structural details in extremely dark areas while distinguishing spacecraft structures from the deep-space background, demonstrating practical viability when applied to visual navigation. This paper is grounded in space on-orbit servicing engineering projects, aiming to address visual navigation practical issues. It pioneers the utilization of authentic on-orbit navigation images in the research, resulting in highly promising and unprecedented outcomes. Comprehensive experiments demonstrate SpaceLight’s superiority over state-of-the-art low-light enhancement algorithms, facilitating enhanced on-orbit navigation image quality. This advancement offers robust support for subsequent visual navigation.
... For all the aforementioned applications, sophisticated control systems are required to take care of the simultaneous movement of a mobile base, i.e. the spacecraft, and a robotic arm (potentially grasping a target object) to allow for efficient manipulation, flawless assembly, or continuous printing. For a free-floating manipulator, any end effector position change in an inertial frame is a function of the change in the joint positions as well as the configuration-dependent inertia properties [7]. Therefore, in general, the inverse and forward kinematics for space manipulators are also considered dynamics problems [7]. ...
... For a free-floating manipulator, any end effector position change in an inertial frame is a function of the change in the joint positions as well as the configuration-dependent inertia properties [7]. Therefore, in general, the inverse and forward kinematics for space manipulators are also considered dynamics problems [7]. This kino-dynamic coupling is illustrated in Figure 1. ...
Future Active Debris Removal (ADR) and On Orbit Servicing (OOS) missions demand for elaborate closed loop controllers. Feasible control architectures should take into consideration the inherent coupling of the free floating dynamics and the kinematics of the system. Recently, Time-Varying Linear Quadratic Regulators (TVLQR) have been used to stabilize underactuated systems that exhibit a similar kinodynamic coupling. Furthermore, this control approach integrates synergistically with Lyapunov based region of attraction (ROA) estimation, which, in the context of ADR and OOS, allows for reasoning about composability of different sub-maneuvers. In this paper, TVLQR was used to stabilize an ADR detumbling maneuver in simulation. Moreover, the ROA of the closed loop dynamics was estimated using a probabilistic method. In order to demonstrate the real-world applicability for free floating robots, further experiments were conducted onboard a free floating testbed.
... In the process of in-orbit service, a space robot will not only be subjected to unknown disturbances from the outside, but will also be constrained by the uncertainty of internal parameters of the system caused by the change in fuel quality and other factors [15]. Therefore, designing controllers for space robots is a challenge which has been studied by many researchers [33][34][35]. Papadopoulos and Dubowsky [29] noted the similarities in control between free-floating space robots and ground fixed-base robots. ...
With the increasing demand for space missions, space robots have become the focus of research and attention. As a typical representative, the free-floating dual-arm space robot has the characteristics of multiple degrees of freedom, a floating base, and dynamic coupling between the manipulator and the base, so its modeling and control are very challenging. To address these challenges, a novel dynamic modeling and control method is proposed for a free-floating dual-arm space robot. First, an explicit dynamic model of a free-floating dual-arm space robot is established based on the explicit canonical multi-rigid-body dynamic modeling theory and combined with the concept of a dynamic equivalent manipulator. The establishment process of this model is not only simple and canonical to avoid the definition and calculation of many intermediate variables, but the symbolic result expression of the model also has the characteristics of iteration, which is convenient for computer automatic modeling. Next, aiming at addressing the problem of trajectory tracking and the base attitude stability of a free-floating dual-arm space robot with parameter perturbation and external disturbance, an improved nonlinear model predictive control method introducing the idea of sliding mode variable structure is proposed. Theoretical analysis shows that the proposed controller has better robustness than the traditional nonlinear model predictive controller. Then, an in-orbit service task is designed to verify the effectiveness of the proposed dynamic modeling and control strategy of the free-floating dual-arm space robot. Finally, the dynamic modeling and control methods proposed are discussed and summarized. The proposed methods can not only realize the tracking of the desired trajectory of the arms of the free-floating space robot, but can also realize the stable control of the base of the free-floating space robot. This paper provides new insights into the difficult problems regarding the dynamics and control of free-floating dual-arm space robots.
... In addition, it is difficult to achieve frictionless movement along the direction of gravity in the simulation of 6-DoF spatial weightlessness motion [8][9][10]. DS, not reliant on physical hardware, conducts verification of debris removal processes only through mathematical modeling [11][12][13]. The mathematical model for the actual contact process cannot be accurately established, and it also lacks the capability to optimize and improve the real capture tool, thereby presenting certain limitations. ...
The space instable target simulator (SITS) is a vital actuator for ground verification of on-orbital capture technology, the motion performance of which directly affects simulation credibility. Different delays reduce the stability of SITS and ultimately lead to its divergence. In order to achieve high-fidelity simulation, the impacts of force measurement delay, the discrete control cycle, and simulator response delay on stability are analyzed first. Then, the dynamic equation and transfer function identification model of the hybrid simulator is constructed, and the necessary and sufficient conditions of its stability and convergence are obtained using the Routh criterion. After that, a novel switching compensator with variable gain is proposed to reduce the superimposed effects of the three delays, the compensation principle diagram of which was built, and its mathematical model including the energy observer and nonlinear tracking differentiator is also established. Finally, three sets of numerical simulations were conducted to validate the correctness of the stability analysis and effectiveness of the proposed compensation method. The simulation results show that all three types of delays can cause SITS to lose stability under critical stable motion states, and the delay in force measurement has the greatest impact, followed by the influence of the control cycle. Compared with the force applied to the simulated target, the velocity, and the recovery coefficient of the space instable target using fixed gain and linear gain compensation, the proposed compensator has significantly better performance.
... Conceptualized OSAM needs span multiple activities, including refueling, spearheaded by private entities such as Orbit Fab [12] and Astroscale U.S. Inc. [13], repair/refurbishment/mission extension by retrofitting additional modules [14], inspection, assembly, or end of life (EOL) services, typically consisting of de-orbiting or tugging to graveyard orbits [1,2]. A detailed review of the robotics technology that will enable future OSAM activities is provided by Flores-Abad et al [15] and more recently by Moghaddam [16]. ...
This work proposes an adaptation of the facility location problem for the optimal placement of on-orbit servicing depots for satellite constellations in high-altitude orbit. The high-altitude regime, such as medium Earth orbit, is a unique dynamic environment where low-thrust propulsion systems can provide the necessary thrust to conduct plane-change maneuvers between the various orbital planes of the constellation. As such, on-orbit servicing architectures involving servicer spacecraft that conduct roundtrips between servicing depots and the client satellites of the constellation may be conceived. To this end, a new orbital facility location problem formulation is proposed based on binary linear programming, in which the costs of operating and allocating the facility(ies) to satellites are optimized in terms of the sum of the effective mass to low Earth orbit (EMLEO). The low-thrust transfers between the facilities and the clients are computed using a parallel implementation of a Lyapunov feedback controller. The total launch cost of the depot, along with its servicers, propellant, and payload, is taken into account as the cost to establish a given depot. The proposed approach is applied to designing an on-orbit servicing depot architecture for the Galileo and the GPS constellations.
... The history of robotics is quite fascinating. Once a part of movie fantasy, the inspiration taken from the movies has made it possible for the existence of robots based on different fields of applications including marine [6,7], space [8][9][10], medicine and surgery [11][12][13], household and many more. The word robot was first introduced into the English language in 1921 by the playwriter Karel Capek in his satirical drama, "R.U.R. (Rossum's Universal Robots)". ...
This review paper addresses the escalating operation and maintenance costs of nuclear power plants, primarily attributed to rising labor costs and intensified competition from renewable energy sources. The paper proposes a paradigm shift towards a technology-centric approach, leveraging mobile and automated robots for physical security, aiming to replace labor-intensive methods. Focusing on the human–robot interaction principle, the review conducts a state-of-the-art analysis of dog robots’ potential in infrastructure security and remote inspection within human–robot shared environments. Additionally, this paper surveys research on the capabilities of mobile robots, exploring their applications in various industries, including disaster response, exploration, surveillance, and environmental conservation. This study emphasizes the crucial role of autonomous mobility and manipulation in robots for diverse tasks, and discusses the formalization of problems, performance assessment criteria, and operational capabilities. It provides a comprehensive comparison of three prominent robotic platforms (SPOT, Ghost Robotics, and ANYmal Robotics) across various parameters, shedding light on their suitability for different applications. This review culminates in a research roadmap, delineating experiments and parameters for assessing dog robots’ performance in safeguarding nuclear power plants, offering a structured approach for future research endeavors.
... Considering Figure 5c, the angles of joints 3,4,5,7 q are derived as follows: , , / 2 , ...
... The inverse kinematic modelling will see a switch in the kinematic formulation. Joint 1 q 's formulation in Phase-1 will be taken up by 7 q in Phase-2, whereas 2,3 q 's formulation in Phase-1 will be taken up by 5,6 q in Phase-2 respectively. ...
... During Phase-1, joint q3 is seen experiencing the maximum torque, which is understandable with 3 q helping the E-Walker's motion back to the base platform. In Phase-2, the LEE attached to 7 q is fixed to the base. Due to the symmetrical nature of the E-Walker's motion, 5 q experiences the maximum torque in the second phase of the E-Walker's motion, completing one cycle. ...
... be the distance between the first point of () i A and the end point of () i A . For any two arcs () i A and () j A , if they belong to the same quadrant, they are directly connected by the orientation of gradients [44], such as (1) A and (2) A in the second quadrant or (3) A and (4) A in the third quadrant. For any two arcs () i A and () j A , if they belong to different quadrants (such as (1) A and (8) A , (1) A and (3) A , (1) A and (4) A , (1) A and (5) A , (1) A and (6) A , (1) A and (7) A ), A are connected and () i A , () j A can be from the same ellipse, which is denoted as ( ) ...
... For any two arcs () i A and () j A , if they belong to the same quadrant, they are directly connected by the orientation of gradients [44], such as (1) A and (2) A in the second quadrant or (3) A and (4) A in the third quadrant. For any two arcs () i A and () j A , if they belong to different quadrants (such as (1) A and (8) A , (1) A and (3) A , (1) A and (4) A , (1) A and (5) A , (1) A and (6) A , (1) A and (7) A ), A are connected and () i A , () j A can be from the same ellipse, which is denoted as ( ) ...
... For any two arcs () i A and () j A , if they belong to the same quadrant, they are directly connected by the orientation of gradients [44], such as (1) A and (2) A in the second quadrant or (3) A and (4) A in the third quadrant. For any two arcs () i A and () j A , if they belong to different quadrants (such as (1) A and (8) A , (1) A and (3) A , (1) A and (4) A , (1) A and (5) A , (1) A and (6) A , (1) A and (7) A ), A are connected and () i A , () j A can be from the same ellipse, which is denoted as ( ) ...
This paper develops an end-to-end circular-feature-based pose estimation using the time-of-flight (TOF) camera for capturing serviced satellite. First, the docking ring is chosen as the recognized object for pose measurement. Second, a new ellipse detection method is proposed to detect the docking ring. Third, the circular feature is used to estimate the six-degrees-of-freedom pose with the aid of a reflective block. Combined with the range at each pixel location from TOF, the pose duality can be eliminated, and the roll angle is recovered through the geometric constraint. Ground physical experiments validate the effectiveness and efficiency of the proposed method. The on-orbit application demonstrates that the proposed algorithm can accurately and robustly estimate the relative pose of the noncooperative satellite, providing reliable navigation information for the chaser spacecraft with the relative pose estimation errors less than 2 deg and 5 cm.
