Volume 10, 2018Progress in Flight Dynamics, Guidance, Navigation, and Control – Volume 10
|Page(s)||239 - 264|
|Published online||08 June 2018|
Manipulator trajectories during orbital servicing mission: numerical simulations and experiments on microgravity simulator
Space Research Centre (CBK PAN) 18a Bartycka Str., Warsaw 00-716, Poland
It is considered to use a manipulator-equipped satellite for performing On-Orbit Servicing (OOS) or Active Debris Removal (ADR) missions. In this paper, several possible approaches are reviewed for end-effector (EE) trajectory planning in the Cartesian space, such as application of the Bézier curves for singularity avoidance and method for trajectory optimization. The results of numerical simulations for a satellite equipped with a 7 degree-of-freedom (DoF) manipulator and results of experiments performed on a planar air-bearing microgravity simulator for a simplified two-dimensional (2D) case with a 2-DoF manipulator are presented. Differences between the free-floating case and the case where Attitude and Orbit Control Systems (AOCS) keep constant position and orientation of the satellite are also shown.
© The Authors, published by EDP Sciences
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).