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RESULTS OF THE COMRADE PROJECT: COMBINED CONTROL FOR ROBOTIC SPACECRAFT AND MANIPULATOR IN SERVICING MISSIONS: ACTIVE DEBRIS REMOVAL AND RE-FUELLING

Colmenarejo, P. and Santos, Nuno and Serra, Pedro and Telaar, J. and Strauch, Hans and De Stefano, Marco and Giordano, Alessandro Massimo and Mishra, Hrishik and Lampariello, Roberto and Ott, Christian and Henry, Davide and Visentin, Gianfranco (2021) RESULTS OF THE COMRADE PROJECT: COMBINED CONTROL FOR ROBOTIC SPACECRAFT AND MANIPULATOR IN SERVICING MISSIONS: ACTIVE DEBRIS REMOVAL AND RE-FUELLING. 11th international ESA Conference on Guidance, Navigation and Control Systems (GNC), June 2021, Virtual Conference.

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Abstract

The current space debris environment poses a safety hazard to operational space assets as well as a hazard to public safety and property in cases of uncontrolled re-entry events. The accidental 2009 satellite collision between Iridium-33 and Cosmos-2251 led to a debris cloud with up to 823 new large debris objects catalogued and many others not catalogued. Among the different possible remediation actions to the debris increase it is the Active Debris Removal (ADR). This paper presents the results of ESA funded COMRADE activity, which pertains to the particular ADR technologies that involves a chaser equipped with robot(s) being operated in tight coordination with the chaser platform motion. Historically, decoupled control and collaborative control have shown that solutions based on them seem to work for some simulated cases (e.g. German DEOS mission and ESA e.Deorbit targeting Envisat satellite). However, concerns are raised by the fact that the attribution of control authority to the robot and platform is arbitrary, tailored to the specific situation and may not be adequate if the actual situation in the ADR mission differs from that modelled ahead of the mission. In addition, the rigid attribution of control authority limits the possibility to treat failures and anomalies with a coordinated approach that may use the highly redundant motion ability of the chaser (possibly higher than 12 Degrees Of Freedom, DOF) to continue the operation unaffected by the contingency.

Item URL in elib:https://elib.dlr.de/147154/
Document Type:Conference or Workshop Item (Speech)
Title:RESULTS OF THE COMRADE PROJECT: COMBINED CONTROL FOR ROBOTIC SPACECRAFT AND MANIPULATOR IN SERVICING MISSIONS: ACTIVE DEBRIS REMOVAL AND RE-FUELLING
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Colmenarejo, P.pcolmena (at) gmv.comUNSPECIFIED
Santos, Nunonuno.santos (at) gmv.comUNSPECIFIED
Serra, Pedropedro.serra (at) gmv.comUNSPECIFIED
Telaar, J.juergen.telaar (at) airbus.comUNSPECIFIED
Strauch, HansHans.Strauch (at) airbus.comUNSPECIFIED
De Stefano, Marcomarco.destefano (at) dlr.dehttps://orcid.org/0000-0003-3777-9487
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Mishra, Hrishikhrishik.mishra (at) dlr.dehttps://orcid.org/0000-0002-5025-2447
Lampariello, RobertoRoberto.Lampariello (at) dlr.dehttps://orcid.org/0000-0002-8479-2900
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Henry, Davidedavid.henry (at) u-bordeaux.frUNSPECIFIED
Visentin, GianfrancoGianfranco.Visentin (at) esa.intUNSPECIFIED
Date:2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Space Robotics, combined control, on-orbit servicing
Event Title:11th international ESA Conference on Guidance, Navigation and Control Systems (GNC)
Event Location:Virtual Conference
Event Type:international Conference
Event Dates:June 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - OOS: Virtual Reality [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:10 Dec 2021 00:05
Last Modified:10 Dec 2021 00:05

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