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

<p>In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces between the manipulator end-effector and the elements of the target object will occur in the grasping phase. In this paper, an active 6 Degrees of Freedom (DoF) force/torque control method for manipulator mounted on a free-floating servicing satellite is proposed. The main aim of the presented method is to balance the relation between end-effector position and force along each direction in the Cartesian space. The control law is based on the Dynamic Jacobian, which takes into account the influence of the manipulator motion on the state of the servicing satellite. The proposed approach is validated in numerical simulations with a simplified model of contact. Comparison with the classical Cartesian control shows that the active 6 DoF force/torque control method allows to obtain better positioning accuracy of the end-effector and lower control torques in manipulator joints in the presence of external forces.</p>
</abstract>

In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces between the manipulator end-effector and the elements of the target object will occur in the grasping phase. In this paper, an active 6 Degrees of Freedom (DoF) force/torque control method for manipulator mounted on a free-floating servicing satellite is proposed. The main aim of the presented method is to balance the relation between end-effector position and force along each direction in the Cartesian space. The control law is based on the Dynamic Jacobian, which takes into account the influence of the manipulator motion on the state of the servicing satellite. The proposed approach is validated in numerical simulations with a simplified model of contact. Comparison with the classical Cartesian control shows that the active 6 DoF force/torque control method allows to obtain better positioning accuracy of the end-effector and lower control torques in manipulator joints in the presence of external forces.

Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator

Wroclaw University of Science and Technology

Artificial Satellites

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

In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces...

Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator

Published Online: Dec 29, 2023

Page range: 214 - 229

Received: Dec 14, 2022

Accepted: Aug 17, 2023

DOI: https://doi.org/10.2478/arsa-2023-0024

Keywords
active force/torque control, free-floating manipulator, Dynamic Jacobian, capture manoeuvre, in-orbit servicing

© 2023 Filip Dyba et al., published by Sciendo

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

Active 6 DoF Force/Torque Control Based on Dynamic Jacobian for Free-Floating Space Manipulator

Published Online: Dec 29, 2023

Page range: 214 - 229

Received: Dec 14, 2022

Accepted: Aug 17, 2023

DOI: https://doi.org/10.2478/arsa-2023-0024

Keywordsactive force/torque control, free-floating manipulator, Dynamic Jacobian, capture manoeuvre, in-orbit servicing

© 2023 Filip Dyba et al., published by Sciendo

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

Keywords
active force/torque control, free-floating manipulator, Dynamic Jacobian, capture manoeuvre, in-orbit servicing