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Control Strategies for the Capture of Payloads in Space

Authors: [tex2html_wrap4368]A. Moosavian, E. Papadopoulos

Investigator username: egpapado

Category: robotics

Subcategory: space robotics

Existing or future satellites and space structures will require extensive inspection, construction and maintenance capabilities. Space robotic systems are envisioned to approach, capture, and service such man-made objects in orbit. However, docking on an object which has momentum and/or internal dynamics, is quite a challenging technical task. In this research, we intend to develop dynamic models to describe the interactions between multi-manipulator space robots and payloads in orbit, and to design planning and control strategies that will facilitate the docking of such robots on payloads.

cliquesptitle Payload-Attitude Controller Interaction in Space Robotic Systems Authors: [tex2html_wrap4370]E. Martin, E. Papadopoulos, J. Angeles

Investigator username: angeles

Category: robotics

Subcategory: space robotics

Thruster-based spacecraft attitude control systems are inherently on-off, and hence, their operation produces a rather broad frequency spectrum that can excite sensitive modes of flexible manipulators. This problem is likely to appear especially when the manipulator is moving a big payload. The excitation of these modes can introduce further disturbances to the attitude control system, and therefore, undesirable fuel replenishing limit cycles may develop. For example, such a situation can occur when large payloads are manipulated by the space shuttle's CANADARM. In this study, we intend to model these dynamic interactions, and develop control methods that will reduce such undesirable effects.

cliquessubsectionTelerobotics


baron@cim.mcgill.ca