An algorithm to guide the capture of a tumbling resident space object by a spacecraft equipped with a robotic manipulator is presented. A solution to the guidance problem is found by solving a collection of convex programming problems. As convex programming offers deterministic convergence properties, this algorithm is suitable for onboard implementation and real-time use. A set of hardware-in-the-loop experiments substantiates this claim. To cast the guidance problem as a collection of convex programming problems, the capture maneuver is divided into two simultaneously occurring sub-maneuvers: a system-wide translation and an internal re-configuration. These two sub-maneuvers are optimized in two consecutive steps. A sequential convex programming procedure, overcoming the presence of non-convex constraints and nonlinear dynamics, is used on both optimization steps. A proof of convergence is offered for the system-wide translation, while a set of structured heuristics—trust regions—is used for the optimization of the internal re-configuration sub-maneuver. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as supplementary material.
A convex-programming-based guidance algorithm to capture a tumbling object on orbit using a spacecraft equipped with a robotic manipulator / Virgili-Llop, J.; Zagaris, C.; Zappulla, R.; Bradstreet, A.; Romano, M.. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 0278-3649. - 38:1(2019), pp. 40-72. [10.1177/0278364918804660]
|Titolo:||A convex-programming-based guidance algorithm to capture a tumbling object on orbit using a spacecraft equipped with a robotic manipulator|
|Data di pubblicazione:||2019|
|Digital Object Identifier (DOI):||http://dx.doi.org/10.1177/0278364918804660|
|Appare nelle tipologie:|