相关论文: Space Debris Reliable Capturing by a Dual-Arm Orbi…

Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…

In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…

Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…

The challenge of satellite stabilization, particularly those with uncertain flexible dynamics, has become a pressing concern in control and robotics. These uncertainties, especially the dynamics of a third-party client satellite,…

There is ever growing demand for satellite constellations that perform global positioning, remote sensing, earth-imaging and relay communication. In these highly prized orbits, there are many obsolete and abandoned satellites and components…

Over the several decades, the space debris at LEO has grown rapidly which had caused a serious threat to the operating satellite in an orbit. To avoid the risk of collision and protect the LEO environment, the space robotics ADR concept has…

The earth's orbit is becoming increasingly crowded with debris that poses significant safety risks to the operation of existing and new spacecraft and satellites. The active tether-net system, which consists of a flexible net with…

We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different from the traditional methods, our approach decouples caging…

In this paper, a flexible tether-net system is applied to capture the space debris and a numerical framework is established to explore its nonlinear dynamic behaviors, which comprises four principal phases: folding, spreading, contacting,…

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…

There is growing demand for satellite swarms and constellations for global positioning, remote sensing and relay communication in higher LEO orbits. This will result in many obsolete, damaged and abandoned satellites that will remain…

With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the continuous removal of space debris is the most severe…

Small-satellites and CubeSats offer a low-cost pathway to access Low Earth Orbit at altitudes of 450 km and lower thanks to miniaturization and advancement in reliability of commercial electronics. However, at these low altitudes,…

This paper presents a method for guiding a robot manipulator to capture and bring a tumbling satellite to a state of rest. The proposed approach includes developing a coordination control for the combined system of the space robot and the…

This paper investigates a swarm-based concept in which a number of nanosatellites, referred to as NanoTugs, are deployed by a mother spacecraft to capture and cooperatively stabilize and de-orbit space debris. The study focuses on the…

The exponential rise in small-satellites and CubeSats in Low Earth Orbit (LEO) poses important challenges for future space traffic management. At altitudes of 600 km and lower, aerodynamic drag accelerates de-orbiting of satellites.…

Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…

Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…

The objective of this study is to develop a model-free workspace trajectory planner for space manipulators using a Twin Delayed Deep Deterministic Policy Gradient (TD3) agent to enable safe and reliable debris capture. A local control…