Hostname: page-component-77c89778f8-vpsfw Total loading time: 0 Render date: 2024-07-24T17:08:55.106Z Has data issue: false hasContentIssue false
  • English
  • Français

Robotic in-orbit servicers — the need for control moment gyroscopes for attitude control

Published online by Cambridge University Press:  03 February 2016

A. Ellery
A. Ellery*
Affiliation:
Astronautics & Space Systems Group, School of Engineering, Kingston University, London, UK
Get access Rights & Permissions [Opens in a new window]

Abstract

Robotic in-orbit servicing has yet to be realised due to a number of technical difficulties. One such difficulty is analysed here. The requirement for force control in robotic manipulation imposes significant design requirements on space robots by virtue of the lack of a mounting platform to react against external forces and torques. The spacecraft attitude control system must effectively serve the same role as the ground in terrestrial manipulators. The reaction torques imposed on the spacecraft due to the manipulators is high when force control is used in grappling targets in space, limiting the choice of attititude actuator to control moment gyroscopes.

Type
Research Article
Information
The Aeronautical Journal , Volume 108 , Issue 1082 , April 2004 , pp. 207 - 214
Copyright
Copyright © Royal Aeronautical Society 2004 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Ellery, A. A robotics perspective on human spaceflight, Earth, Moon & Planets, 2001, 87, (3), pp 173–190.Google Scholar
2. Sullivan, B. and Akin, D. A survey of serviceable spacecraft failures, 2001, AIAA 2001–4540.Google Scholar
3. Ellery, A., Welch, C. and Curley, A. A proposed public-private partnership for the funding of robotic in-orbit servicers, ASME Proc of Space & Robots Conference 2002, Alburquerque, 2002, USA (March).Google Scholar
4. Ellery, A. Resolved motion control of space manipulators, Proc 45th IAF Congress, 1994, Tel Aviv, Israel ST 94-W2-574.Google Scholar
5. Ellery, A. An Introduction to Space Robotics, 2000, Praxis Publishers, Praxis-Springer series on Astronomy & Space Sciences.Google Scholar
6. Ellery, A. Systems Design and Control of a Freeflying Space Robotic Manipulator System (ATLAS) for In-orbit Servicing Operations. PhD thesis, 1996, Cranfield Institute of Technology (now Cranfield University).Google Scholar
7. Ellery, A., Welch, C. and Leveque, N. The Advanced Telerobotic Actuation System (ATLAS) in-orbit servicing propulsion options. World Space Congress, Oct 2002, Houston, USA, paper no. IAC-02-S.4.07.Google Scholar
8. Paul, R. Robot Manipulators: Mathematics, Programming and Control, MIT Press, Cambridge, MA, USA.Google Scholar
9. Fu, K., Gonzalez, R. and Lee, C. Robotics: Control, Sensing, Vision & Intelligence, McGraw-Hill, 1987, Singapore.Google Scholar
10. Slotine, J. and Li, W. On the adaptive control of robot manipulators1, 1987, Intern J Robotics Res, 6, (3), pp 49–59.Google Scholar
11. Papadopoulos, E. and Dubowsky, S. On the nature of control algorithms for freefloating manipulators, 1991, IEEE Trans Robot & Autom, 7, (6), pp 750–758.Google Scholar
12. Longman, R., Lindberg, R. and Zedd, M. Satellite-mounted robot manipulators — new kinematics and reaction compensation, 1987, Inter J Robotics Res, 6, (3), pp 87–103.Google Scholar
13. Luh, J., Walker, M. and Paul, R. On-line computational scheme for mechanical manipulators, Trans ASME J Dyn Syst Meas & Cont, 1980, 102 (Jun), pp 69–76.Google Scholar
14. Iwata, T. et al Dynamic control of freeflying robot for capturing maneouvres, AIAA 91-2824-CP, 1991.Google Scholar
15. Yoshida, K. et al Modelling of collision dynamics for space freefloating links with extended generalisation inertia tensor, Proceedings IEEE Int Conf Robotics & Automation, 899–904, 1992.Google Scholar
16. Apolloni, B., Battini, F. and Lucisano, C. A co-operating neural approach for spacecraft attitude control, 1997, Neurocomputing, 16, pp 279–307 Google Scholar
17. Krishnan, S. and Vadali, S. An inverse-free technique for attitude control of spacecraft using CMGs, Acta Astronautica, 1996, 39, (6), pp 431–438.Google Scholar
18. Lappas, V., Steyn, W. and Underwood, C. Attitude control for small satellites using control moment gyros, 2002, Acta Astronautica, 51, (1-9), pp 101–111.Google Scholar
19. Umetani, Y. and Yoshida, K. Resolved motion rate control of space manipulators using a generalised Jacobian matrix, 1989, IEEE Trans Robot & Autom, 5, (3), pp 303–314.Google Scholar
20. Longman, R. Kinetics and workspace of robot mounted on satellite that is free to rotate and translate, 1988, AIAA 88-4097-CP.Google Scholar