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Modeling a Controlled-Floating Space Robot for In-Space Services: A Beginner's Tutorial.

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Summary

This study presents a refined dynamic model for controlled-floating space robots, crucial for in-orbit servicing and debris removal. The model accurately captures complex dynamics and perturbations for precise robotic control in space missions.

Keywords:
controlled-floatingdynamic modelingfree-floatingfree-flyingpose controlspace robot

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Area of Science:

  • Robotics and Autonomous Systems
  • Aerospace Engineering
  • Space Systems Engineering

Background:

  • Robotics and autonomous systems (RASs) are increasingly vital for space missions.
  • Existing free-flying and free-floating modes for space robots have limitations.
  • Controlled-floating mode offers a solution for enhanced space robot operation.

Purpose of the Study:

  • To address the knowledge gap in modeling complex space robots in controlled-floating mode.
  • To develop a refined dynamic model for chaser space robots under perturbed conditions.
  • To provide a foundation for precise pose control in in-orbit servicing missions.

Main Methods:

  • Derived a refined dynamic model for a chaser space robot relative to a moving target.
  • Accounted for internal perturbations: changing center of mass and inertial matrix.
  • Incorporated Coriolis, centrifugal terms, and external environmental disturbances.

Main Results:

  • Presented a nonlinear model accurately representing multibody coupled dynamics.
  • Demonstrated the model's accuracy for closed-loop control through simulations.
  • Validated the model's effectiveness for precise pose control.

Conclusions:

  • The refined dynamic model is pivotal for precise pose control of space robots.
  • The model offers a commercially viable solution for various in-orbit missions.
  • This work advances the capabilities of space robotics for future servicing and assembly tasks.