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Related Experiment Video

Updated: Oct 16, 2025

Operation of the Collaborative Composite Manufacturing CCM System

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

Space Detumbling Robot Arm Deployment Path Planning Based on Bi-FMT* Algorithm.

Ning Chen¹, Yasheng Zhang², Wenhua Cheng²

¹Department of Graduate Management, Space Engineering University, Beijing 101416, China.

|October 23, 2021

Summary

This summary is machine-generated.

This study introduces a space detumbling robot to reduce target rotation, enhancing mission safety. A novel robot arm deployment path planning algorithm ensures effective operation for space debris removal and satellite servicing.

Keywords:

ADAMS Bi-FMT*path planning space detumbling robot

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Area of Science:

Robotics
Aerospace Engineering
Space Mission Operations

Background:

Space missions face risks from uncontrolled target rotation, necessitating solutions for satellite and target safety.
Current methods for mitigating rotational instability in space are limited, impacting mission reliability.

Purpose of the Study:

To develop and validate a space detumbling robot system for reducing target rotation.
To address the critical challenge of robot arm deployment path planning in space environments.

Main Methods:

A space detumbling robot model with a 'platform + manipulator + end effector' configuration was developed, treated as a six-rotational and three-translational joint system.
Kinematic and dynamic models were derived and simulated using ADAMS and MATLAB for verification.
The Bi-FMT* algorithm was adapted for robot arm deployment path planning, considering constraints and problem specifics.

Main Results:

The derived kinematic and dynamic models were validated through comparative simulations in ADAMS and MATLAB.
A novel algorithm for space robot arm deployment path planning was successfully developed and simulated.
The proposed approach demonstrated effectiveness in addressing space detumbling and robot arm deployment challenges.

Conclusions:

The developed space detumbling robot model and its simulation provide a reliable foundation for future space missions.
The Bi-FMT* based path planning algorithm offers a viable solution for safe and efficient robot arm deployment in space.
This research contributes to enhancing the safety and reliability of space missions involving detumbling operations.