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Ground Robotic Platform for Simulation of On-Orbit Servicing Missions

Anirudh Chhabra

https://orcid.org/0000-0001-9092-1310

University of Cincinnati, Cincinnati, Ohio 45221

*Graduate Student, Department of Aerospace Engineering and Engineering Mechanics. Student Member AIAA.

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and

Donghoon Kim

https://orcid.org/0000-0003-3142-4458

University of Cincinnati, Cincinnati, Ohio 45221

†Assistant Professor, Department of Aerospace Engineering and Engineering Mechanics. Member AIAA.

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Published Online:14 Mar 2022https://doi.org/10.2514/1.I011008

Abstract

Autonomous on-orbit servicing missions require high precision because any unwanted contact forces can cause damage to space systems. This makes the on-ground hardware-in-the-loop simulations necessary as operations must be thoroughly evaluated before such missions are carried out in space. A robotic platform is proposed, where a 3-degree-of-freedom (3-DOF) robotic arm is placed atop a 6-DOF Stewart platform. A mathematical model is developed for the resulting 9-DOF redundant manipulator, and the corresponding dynamics are modeled and verified. Simulation studies are conducted using a constrained and singularity-robust pseudo-inverse control scheme, and the system’s capability to follow a scaled-down orbital trajectory is tested. The results are presented, and the future implications of this study are discussed.

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Acknowledgment

Funding support for this research effort was provided through a Fellowship award from the University of Cincinnati’s Space Research Institute for Discovery and Exploration, Office of Research.

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Received15 April 2021
Accepted11 February 2022
Published online14 March 2022

Ground Robotic Platform for Simulation of On-Orbit Servicing Missions

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