Understanding and addressing the dynamic coupling between robotic arms and base spacecraft to enable challenging in-space operations
Abstract
In current and planned missions, Space Manipulator Systems (SMS) move very slowly to avoid causing instability in both themselves and their base spacecraft due to dynamic coupling effects. Such operations may be adequate for cooperative tasks but fall short when performing more complex servicing missions, such as with non-cooperative clients. In contrast, animals like squirrels and lizards can easily move their body segments to achieve their overall motion goal during free fall, similar to a zero-G environment. To address this problem, a thorough understanding of the coupling dynamics between the arms and the base spacecraft is essential for technological innovation. This project investigates dynamic coupling effects and explores the development of bio-inspired control strategies for SMS used in ISAM. Dynamic coupling, involving the intricate interplay between the movements of robotic arms and their base spacecraft, presents significant challenges to SMS operations. To better understand these effects, our research aims to examine the underlying dynamics, considering properties such as mass, inertia, geometry, flexibility, joint constraints, actuator limits, and operation speed. Drawing inspiration from efficient animal locomotion, we will study and emulate these trajectories. The project seeks to improve SMS performance and efficacy, contributing to advancements in space robotics, and potentially enhancing innovation and efficiency in in-space operations. Envisioned outcomes include developing algorithms to enhance SMS control and gaining insights into SMS dynamics that will refine space manipulation techniques. Additionally, it is believed that the proposed strategies will support extending the operational longevity and enhancing the capabilities of space assets, potentially advancing space exploration and servicing missions. These successful outcomes are expected to extend beyond the laboratory, supporting future ISAM missions and contributing to space robotics progress. Consequently, the proposed project aims to enrich educational infrastructure and contribute to workforce development, preparing skilled professionals to tackle future challenges in aerospace and defense.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Feb 06, 2025
- Source ID
- FA95502410600
Entities
People
- Donghoon Kim
Organizations
- Air Force Office of Scientific Research
- United States Air Force
- University of Cincinnati