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Coordination of thrusters, reaction wheels, and arm in orbital robots

Giordano, Alessandro Massimo and Dietrich, Alexander and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) Coordination of thrusters, reaction wheels, and arm in orbital robots. Robotics and Autonomous Systems, 131. Elsevier. doi: 10.1016/j.robot.2020.103564. ISSN 0921-8890.

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Official URL: https://www.sciencedirect.com/science/article/abs/pii/S0921889020304048?via%3Dihub

Abstract

A fuel-efficient control strategy for a manipulator-equipped spacecraft is presented. The strategy uses the thrusters, the reaction wheels, and the arm drives in a coordinated way to limit the use of the thrusters and achieve ideally zero fuel consumption in contact-free maneuvering. The thrusters are activated automatically only after contact, to stabilize the inertial motion of the system. The controller regulates the translation of the center-of-mass (CoM) of the whole space robot, the rotation of the spacecraft, and the pose of the end-effector (EE) in a decoupled way, utilizing the thrusters to control the CoM translation only and the remaining actuators to control the rotation and end-effector coordinately. The method is validated experimentally using a hardware-in-the-loop simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a 6DOF simulated spacecraft. Numerical simulations with discrete thrusters assess the fuel efficiency of the proposed strategy.

Item URL in elib:https://elib.dlr.de/137974/
Document Type:Article
Title:Coordination of thrusters, reaction wheels, and arm in orbital robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:2020
Journal or Publication Title:Robotics and Autonomous Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:131
DOI :10.1016/j.robot.2020.103564
Publisher:Elsevier
ISSN:0921-8890
Status:Published
Keywords:Space robotics Thrusters Reaction wheels Stability analysis Nonlinear control Hardware-in-the-loop
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Giordano, Alessandro Massimo
Deposited On:24 Nov 2020 17:21
Last Modified:24 Nov 2020 17:21

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