On the guidance, navigation and control of in-orbit space robotic missions: A survey and prospective vision

Forecasting-based data-driven model-free adaptive sliding mode attitude control of combined spacecraft

The low-cost and short-lead time of small satellites has led to their use in science-based missions, earth observation, and interplanetary missions. Today, they are also key instruments in orchestrating technological demonstrations for On-Orbit Operations (O3) such as inspection and spacecraft servicing with planned roles in active debris removal and on-orbit assembly. This paper provides an overview of the robotics and autonomous systems (RASs) technologies that enable robotic O3 on smallsat platforms. Major RAS topics such as sensing & perception, guidance, navigation & control (GN&C) microgravity mobility and mobile manipulation, and autonomy are discussed from the perspective of relevant past and planned missions.

/pdf/robotics-and-ai-enabled-on-orbit-operations-with-future-3iu00wre4c.pdf

Robotics and AI-Enabled On-Orbit Operations With Future Generation of Small Satellites

Automatic trajectory planning for low-thrust active removal mission in low-earth orbit

Data-driven model-free adaptive attitude control of partially constrained combined spacecraft with external disturbances and input saturation

GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

Space debris ontology for ADR capture methods selection

The increasing variety of space missions, combined with their rising complexity and need for more environmentally-friendly, yet cost-effective, solutions, is putting the traditional spacecraft and rover designs to the test. In fact, the majority of nowadays spacecraft and planetary rovers are mostly monolithic, one-of-a-kind, single-use systems, hardly offering any possibility for their future servicing, upgrade or re-use. The EU-funded H2020 project Standard Interface for Robotic Manipulation of Payloads in Future Space Missions (SIROM) aims to bridge this gap by developing an integrated and inherently optimized multi-functional standard interface for mechanical, data, electrical and thermal transfer. The interface, in combination with a custom end-effector and active payload modules (APMs), will allow designing modular and re-configurable systems that could be easily serviced and upgraded via a dedicated robotic system for in-orbit or planetary environment. With respect to the existing state-of-the-art, the interface and modules in SIROM are being developed considering the need for scalability, reusability, compatibility with robotic manipulation and suitability for both environments. Within this context, the paper aims to analyze the feasibility of APM and end-effector concepts, within the system requirements of the project, in order to identify their most suitable preliminary concepts. The analysis is performed in terms of functionalities and architecture, and in case of APMs, considers a remote sensing and power storage system as payloads for orbital and planetary scenarios, respectively. The methodology used for the evaluation of APM and end-effector concepts is a top-down methodology generally used for the design and sizing of payloads of space missions. It consists of: (a) definition of payload objectives and its desired capabilities, (b) identification of candidates, (c) estimation of their characteristics based on analogy, scaling or component budgeting, and (d) evaluation and selection of a reference concept. Moreover, in case of the end-effector analysis, interactions and configurations with APM concepts were also taken into consideration. The results of the analysis point out the feasibility of APMs and end-effectors, within the system requirements of the project, and outline concepts that could be used in the future steps of the project as a guideline in the detailed design of APMs and end-effectors.

Concepts of active payload modules and end-effectors suitable for standard interface for Robotic Manipulation of Payloads in Future Space Missions (SIROM) interface

The paper illustrates a trajectory generation method for a free-floating robot to capture a non-cooperative, tumbling target. The goal of the method is to generate an optimal trajectory for the manipulator to approach a non-cooperative target while minimizing the overall angular momentum of the entire system (chaser plus target). The method is formulated as an optimal control problem (OCP) and solved via an orthogonal collocation method that transforms the OCP into a nonlinear programming problem (NLP). This way the dynamical coupling between the base and manipulator is actively used to reach the optimum capturing conditions. No synchronization of the relative motion between the target and chaser is necessary prior to the maneuver. Therefore, there is an inherent propellant advantage of the method when compared with the standard ones. The method is applied in 2D simulation using representative targets, such as a Vega 3rd stage rocket body, in a flat spin. The results of simulations prove that the developed method could be a viable alternative or a complement to existing free-flying methods, within the mechanical limitations of the considered space manipulator. The study of the capture and stabilization phases was outside the scope of the present paper and represents future work that needs to be performed to analyze the operational applicability of the developed method.

Trajectory Generation Method for Robotic Free-Floating Capture of a Non-cooperative, Tumbling Target

Existing active debris removal (ADR) methods that require physical contact with the target have applicability limitations depending on the maximum angular momentum that can be absorbed. Therefore, a de-tumbling phase prior to the capturing phase may be necessary. The aim of this article is to present the on-going work on the control module of a contactless de-tumbling subsystem based on eddy currents ('Eddy Brake'). This research is being carried out in the framework of the Agora mission (Active Grabbing & Orbital Removal of Ariane), which employs a robotic spacecraft concept to demonstrate technologies to autonomously de-tumble, capture and de-orbit an Ariane rocket body. The article first presents the 'Eddy Brake' method and the Guidance, Navigation and Control (GNC) architecture of a chaser spacecraft. Furthermore, the linear and rotational dynamics based on the Magnetic Tensor Theory (MTT) are explained. Then, a control strategy is presented to keep a constant relative distance between the two objects and a suitable relative pointing of the coil towards the target object. A simplified analytical solution for the control of the two objects in the 2D problem is presented and the stability of the system in the vicinity of a stable asymptotic state is analysed. Finally, two case studies are presented on the Ariane-4 H10 and Ariane-5 EPS upper stages

Marko Jankovic

Papers

GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

Space debris ontology for ADR capture methods selection

Concepts of active payload modules and end-effectors suitable for standard interface for Robotic Manipulation of Payloads in Future Space Missions (SIROM) interface

Trajectory Generation Method for Robotic Free-Floating Capture of a Non-cooperative, Tumbling Target

Control analysis for a contactless de-tumbling method based on eddy currents: problem definition and approximate proposed solutions