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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Bibliographic Details
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
Online Access:Get full text
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Summary: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.
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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
ISSN:2296-9144
2296-9144
DOI:10.3389/frobt.2021.686723