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The failures of GEO (Geostationary Orbit) spacecrafts will result in large economic cost and other bad impacts. In this paper, we propose a space robotic servicing concept, and present the design of the corresponding system. The system consists of a 7-DOF redundant manipulator, a 2-DOF docking mechanism, a set of stereo vision and general subsystems of a spacecraft platform. This system can serve...
This paper presents the Dual Arm Free-flying Space Robotic System (DAFSR) which is developed for On-Orbit Servicing to GEO stationary satellite. DAFSR consists of free-flying platform, target detecting system and two space manipulators. In this paper, the mission schedule and the design of the system are described in detail, as well as the target detecting system and the ground tele-operational system...
A new fault tolerant robotic central controller with dual processing modules is introduced. Each processing module is composed of 32 bit ARM RISC processor and other commercial-off-the-shelf (COTS) devices. As well as, a set of fault handling mechanisms is implemented in the robotic central controller, which can tolerate a single fault. The robotic central controller software based on VxWorks is organized...
Using flexible net to capture malfunction satellites is more preferable than using rigid mechanisms. However, when the flexible net is ejected directly from the platform without control, capture error will be presented because of the orbital dynamic disturbance. In this paper, the capture net is simplified as a mass point, the capture errors are investigated in local orbital coordinate by using Hill...
In space application, the space robot is being used to repair and construct spacecrafts. As well known, the high dynamic coupling between the arm and its base causes the interactive disturbance. The motion of arm disturbs the attitude of the base, the attitude changes affect the manipulating precision of the end-effector. Even, such a disturbance may produce the serious impact between the arm's end-effector...
The nonholonomic characteristic of space robot is used to plan the path of the manipulator, by whose motion the base attitude and the manipulator joints attain the desired states. Firstly, the functions of the joint angles are parameterized by sinusoidal functions. Secondly, the objective function is defined according to the accuracy requirement and the constraints of the system state. Finally, genetic...
On-orbital services of space robot are playing more and more important roles in the space operation. Nearly all space operation can not possibly avoid to contact the target. The contact and impact do not possibly avoid when the space robot captures the object. The impulse caused by impact is bad to the space robot and object. This paper derives the impact dynamic equations according to the dynamic...
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