<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Capture and removal of large space debris is needed to prevent the growth of the debris population in low Earth orbit. Capture of a non-cooperative object by a manipulator mounted on a chaser satellite requires collision-free trajectory of the manipulator. The obstacle vector field (OVF) method allows to solve the trajectory planning problem in difficult scenarios. The OVF method is based on a vector field that surrounds the obstacles and generates virtual forces that drive the manipulator around the obstacles. The original formulation of the OVF method allows to obtain the desired position of the gripper, but not the desired orientation. To perform the grasping manoeuvre, the gripper has to be positioned in a specific point and aligned with the grasping interface. In this paper, we propose a modification to the OVF method that allows to obtain the desired position and orientation of the gripper. Moreover, we investigate the practical applicability of the OVF method. The OVF method is demonstrated in experiments performed on a planar air-bearing microgravity simulator. The presented results prove that the OVF method can be applied for a real system operating in simulated microgravity conditions.</p>
</abstract>

Capture and removal of large space debris is needed to prevent the growth of the debris population in low Earth orbit. Capture of a non-cooperative object by a manipulator mounted on a chaser satellite requires collision-free trajectory of the manipulator. The obstacle vector field (OVF) method allows to solve the trajectory planning problem in difficult scenarios. The OVF method is based on a vector field that surrounds the obstacles and generates virtual forces that drive the manipulator around the obstacles. The original formulation of the OVF method allows to obtain the desired position of the gripper, but not the desired orientation. To perform the grasping manoeuvre, the gripper has to be positioned in a specific point and aligned with the grasping interface. In this paper, we propose a modification to the OVF method that allows to obtain the desired position and orientation of the gripper. Moreover, we investigate the practical applicability of the OVF method. The OVF method is demonstrated in experiments performed on a planar air-bearing microgravity simulator. The presented results prove that the OVF method can be applied for a real system operating in simulated microgravity conditions.

Application of the Obstacle Vector Field Method for Trajectory Planning of a Planar Manipulator in Simulated Microgravity

Artificial Satellites

This work is licensed under the Creative Commons Attribution 4.0 International License.

Capture and removal of large space debris is needed to prevent the growth of the debris population in low Earth orbit. Capture of a non-cooperative object by a...

Parameter	Unit	Reference (planning)	Experiments
Parameter	Unit	Reference (planning)	Min.	Max.	Average
Position X	m	0.0008	0.0005	0.0078	0.0043
Position Y	m	0.0018	0.0064	0.0171	0.0106
Orientation	deg	0.1319	0.0999	1.2999	0.5666

Parameter	Unit	Link 1	Link 2	Link 3
Length	m	0.45	0.45	0.31
Mass	kg	2.81	2.82	4.64
CoM position in Π_i	m	$[\begin{matrix} 0.136 \\ - 0.002 \end{matrix}]$ \left[ {\matrix{ {0.136} \cr { - 0.002} \cr } } \right]	$[\begin{matrix} 0.134 \\ - 0.001 \end{matrix}]$ \left[ {\matrix{ {0.134} \cr { - 0.001} \cr } } \right]	$[\begin{matrix} 0.151 \\ 0 \end{matrix}]$ \left[ {\matrix{ {0.151} \cr 0 \cr } } \right]
Mass moment of inertia	kg · m²	0.0637	0.0635	0.0515

Application of the Obstacle Vector Field Method for Trajectory Planning of a Planar Manipulator in Simulated Microgravity

Published Online: Dec 29, 2023

Page range: 171 - 187

Received: Dec 14, 2022

Accepted: May 23, 2023

DOI: https://doi.org/10.2478/arsa-2023-0021

Keywords
collision-free trajectory planning, obstacle vector field (OVF) method, active debris removal (ADR), free-floating manipulator, planar air-bearing microgravity simulator

© 2023 Tomasz Rybus et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

Figure 6.

Gripper final positioning errors (absolute values)

Mass and geometrical properties of the manipulator

Application of the Obstacle Vector Field Method for Trajectory Planning of a Planar Manipulator in Simulated Microgravity

Published Online: Dec 29, 2023

Page range: 171 - 187

Received: Dec 14, 2022

Accepted: May 23, 2023

DOI: https://doi.org/10.2478/arsa-2023-0021

Keywordscollision-free trajectory planning, obstacle vector field (OVF) method, active debris removal (ADR), free-floating manipulator, planar air-bearing microgravity simulator

© 2023 Tomasz Rybus et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

Figure 6.

Gripper final positioning errors (absolute values)

Mass and geometrical properties of the manipulator

Keywords
collision-free trajectory planning, obstacle vector field (OVF) method, active debris removal (ADR), free-floating manipulator, planar air-bearing microgravity simulator