Robotic Manipulation and Capture in Space: A Survey

Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities...

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Published in:Frontiers in robotics and AI Vol. 8; p. 686723
Main Authors: Papadopoulos, Evangelos, Aghili, Farhad, Ma, Ou, Lampariello, Roberto
Format: Journal Article
Language:English
Published: Switzerland Frontiers Media S.A 19.07.2021
Subjects:
dynamics and control of space robots
ground testing of space robots
manipulation in orbit
on-orbit servicing
robotic capture on orbit
Robotics and AI
space robotics
contact dynamics
ground testing of space robots
on-orbit servicing
manipulation in orbit
space robotics
robotic capture on orbit
grippers for space
dynamics and control of space robots
ISSN:2296-9144, 2296-9144
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Abstract Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.
AbstractList Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.
Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.
Author Aghili, Farhad
Papadopoulos, Evangelos
Ma, Ou
Lampariello, Roberto
AuthorAffiliation 1 Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, Athens , Greece
4 Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen , Germany
2 Space Exploration, Canadian Space Agency (CSA), Montreal , QC , Canada
3 Intelligent Robotics and Autonomous Systems Lab, College of Engineering and Applied Science, University of Cincinnati, Cincinnati , OH , United States
AuthorAffiliation_xml – name: 2 Space Exploration, Canadian Space Agency (CSA), Montreal , QC , Canada
– name: 4 Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen , Germany
– name: 1 Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, Athens , Greece
– name: 3 Intelligent Robotics and Autonomous Systems Lab, College of Engineering and Applied Science, University of Cincinnati, Cincinnati , OH , United States
Author_xml – sequence: 1
  givenname: Evangelos
  surname: Papadopoulos
  fullname: Papadopoulos, Evangelos
– sequence: 2
  givenname: Farhad
  surname: Aghili
  fullname: Aghili, Farhad
– sequence: 3
  givenname: Ou
  surname: Ma
  fullname: Ma, Ou
– sequence: 4
  givenname: Roberto
  surname: Lampariello
  fullname: Lampariello, Roberto
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Keywords contact dynamics
ground testing of space robots
on-orbit servicing
manipulation in orbit
space robotics
robotic capture on orbit
grippers for space
dynamics and control of space robots
Language English
License Copyright © 2021 Papadopoulos, Aghili, Ma and Lampariello.
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Edited by: Carl Glen Henshaw, United States Naval Research Laboratory, United States
Tomasz Rybus, Centrum Badań Kosmicznych Polskiej Akademii Nauk (CBK PAN), Poland
Reviewed by: Brian Roberts, National Aeronautics and Space Administration, United States
Gordon Roesler, Robots in Space LLC, United States
This article was submitted to Space Robotics, a section of the journal Frontiers in Robotics and AI
Markus Wilde, Florida Institute of Technology, United States
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Misra (B203) 2017; 40
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Snippet Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital...
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SubjectTerms dynamics and control of space robots
ground testing of space robots
manipulation in orbit
on-orbit servicing
robotic capture on orbit
Robotics and AI
space robotics
Title Robotic Manipulation and Capture in Space: A Survey
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