Robotic Manipulation and Capture in Space: A Survey.

Area of Science:

• Robotics
• Aerospace Engineering
• Space Systems Engineering

Background:

• Space exploration and exploitation necessitate advanced on-orbit robotic capabilities.
• Key capabilities include satellite servicing, orbital debris removal, and in-space construction and maintenance.
• Object manipulation and capture are fundamental to enabling these robotic functions in space.

Purpose of the Study:

• To provide a comprehensive survey of fundamental aspects of on-orbit manipulation and capture.
• To review recent advancements in sensing, motion planning, and control for space manipulator systems (SMS).
• To document ground testing facilities and notable missions related to on-orbit capture operations.

Main Methods:

• Analysis of space manipulator system (SMS) dynamics and contact dynamics.
• Review of methods for identifying properties of SMSs and targets.
• Examination of recent research in pose and state sensing, motion planning, and feedback control for SMS.
• Compilation of information on ground testing testbeds and relevant space missions.

Main Results:

• Fundamental aspects of manipulation and capture dynamics are addressed.
• Recent advancements in sensing, motion planning, and feedback control for SMS are presented.
• Major ground testing facilities and significant on-orbit capture missions and technologies are reviewed.

Conclusions:

• On-orbit robotic manipulation and capture are critical for future space activities.
• The survey consolidates knowledge on dynamics, control, sensing, planning, testing, and missions.
• This work serves as a foundational resource for researchers and engineers in the field of space robotics.