A Practical Control Scheme for Autonomous Capture of Free-Flying Satellites by Space Robotic Manipulator based on Predictive Trajectory
Hiroyuki Nagamatsu, Takashi Kubota and Ichiro Nakatani
The Institute of Space and Astronautical Science, 3-1-1, Yoshinodai, Sagamihara-shi, Kanagawa 229-0035, Japan
This paper describes a practical control scheme for autonomous capture of a free-flying satellite in space using an onboard manipulator. In capturing a satellite, a reference trajectory for control of a manipulator is generated with a time delay due to the processing time of a target motion estimator and a manipulator controller. Consequently, the control system shows poor performance and the end-effector sometimes fails to capture the target satellite. To solve this problem, a control system is proposed that utilizes predictive trajectory based on target satellite dynamics. The validity and usefulness of the proposed control method are shown by computer simulations and experiments using a 3-D hardware simulator with 9 degrees of freedom.
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