Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and...

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• Satellite capturing by free-floating space robots is complex due to unstable bases and unknown mass properties.
• Existing methods face challenges in precise control and real-time adaptation.

Purpose of the Study:

• To develop an improved system for satellite capturing using free-floating space robots.
• To simplify the control and identification complexity of space robotic systems.

Main Methods:

• Utilized gyro and eye-in-hand camera data for enhanced sensing.
• Proposed a novel modeling approach simplifying the space robot to a ground-fixed manipulator.
• Implemented a self-tuning control scheme with a least-squares estimator for real-time parameter identification.

Main Results:

• The new model effectively reduces system control and identification complexity.
• The self-tuning control scheme successfully handled unknown parameters in real-time.
• Experimental validation on a 3D ground system confirmed the method's effectiveness.

Conclusions:

• The proposed approach offers a viable solution for challenging satellite capturing tasks.
• Real-time identification of mass properties is crucial for robust space robot control.
• The simplified modeling and adaptive control enhance the feasibility of autonomous space operations.