Robotic spacecraft

About: Robotic spacecraft is a research topic. Over the lifetime, 408 publications have been published within this topic receiving 4412 citations.

The kinematics, dynamics, and control of free-flying and free-floating space robotic systems

Abstract: Some important dynamics and control problems unique to space robotic systems are discussed. Particular attention is paid to free-flying and free-floating space robots that might be used for such tasks as space station repair and construction. Advances in solving these problems are briefly reviewed. Three promising methods for planning and controlling the motion of space robotic systems are presented. It is suggested that a thorough understanding of the fundamental dynamics of these systems will result in effective solutions to their control problems. >

Mars Exploration Rover mobility assembly design, test and performance

Abstract: In January 2004, NASA landed two mobile robotic spacecraft, or rovers, on opposite sides of the planet Mars. These rovers, named Spirit and Opportunity, were each sent on their own scientific mission of exploration. Their objective was to work as robotic geologists. After more than a year the vehicles are still in excellent health, and returning vast amounts of scientific information on the ancient water processes that helped form Mars. Key to the success of the rovers was the development of their advanced mobility system. In this paper the mobility assembly, the mechanical hardware that determines the vehicles mobility capability, is described. The details of the design, test, and performance of the mobility assembly are shown to exceed the mission requirements. The rovers' ability to traverse the Mars terrain with its combination of rocks, craters, soft soils, and hills was verified, and the system design validated.

Nonlinear Control of Motion Synchronization for Satellite Proximity Operations

Abstract: This paper considers the problem of motion synchronization of free-flying robotic spacecraft and serviceable floating objects in space. The synchronization maneuvers are a combination of relative position tracking and attitude reorientation. Control laws are developed that ensure that the relative position vector between a pursuer and target spacecraft is always directed toward the docking port of the target. The tracking-error reference signals are generated based on a novel "virtual target" construction. Also, the attitude reorientation of the pursuer is achieved by constructing a desired attitude from the virtual target, and the control law seeks to nullify the errors between the current and desired attitude parameters. The control law synthesis proceeds along familiar, established procedures motivated by feedback-linearization-based approaches. Disturbance torques due to gravity gradient and other unknown but bounded disturbances are accounted for using an adaptive control formulation. The stability of the control laws are demonstrated via Lyapunov analysis and Matrosov's theorem Numerical simulations are performed to demonstrate the efficacy of this control formulation.

A Dynamically Reconfigurable Robotic System (Concept Of A System And Optimal Configurations)

Abstract: A new concept of robotic systems, "Dynamically Reconfigurable Robotic System(DRRS)" is shown in this paper. Each cell of the robotic module in DRRS can detach itself and combine them autonomously depending on a task, such as manipulators or mobile robots, so that the system can reorganize the optimal total shape, unlike robots developed so far which cannot reorganize automatically by changing the linkage of arms, replacing some links with others or reforming shapes in order to adapt itself to the change of working environments and demands. The newly proposed 'robotic system in this paper can be reconfigurable dynamically to a given task, so that the level of the flexibility and adaptability is much higher than that of the conventionals. DRRS has many unique adavantages, such as optimal shaping under circumstances, fault tolerance, self repairing and others. Some demonstrations can be shown experimentally and a decision method for such cell structured manipulator configurations is also proposed.