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CEAS EuroGNC 2024

Emulating On-Orbit Interactions Using Forward Dynamics Based Cartesian Motion
Mohatashem Reyaz Makhdoomi Doctoral Candidate, Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg.
Vivek Muralidharan Research Associate,Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg.
Kuldeep R. Barad Doctoral Candidate, Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg.
Juan Sandoval Associate Professor, Laboratoire des Sciences du Numérique de Nantes : LS2N, Ecole Centrale de Nantes, 44321 Nantes, France.
Miguel Olivares-Mendez Assistant Professor, Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg.
Carol Martinez Research Scientist, Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg.
Abstract:
On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools for developing and testing space technology. This paper presents a control framework to emulate on-orbit operations using on-ground robotic manipulators. It combines Virtual Forward Dynamics Models (VFDM) for Cartesian motion control of robotic manipulators with an Orbital Dynamics Simulator (ODS) based on the Clohessy Wiltshire (CW) Model. The VFDM-based Inverse Kinematics (IK) solver is known to have better motion tracking, path accuracy, and solver convergency than traditional IK solvers. Thus, it provides a stable Cartesian motion for manipulators based on orbit emulations, even at singular or near singular configurations. The framework is tested at the ZeroG-Lab robotic facility of the SnT by emulating two scenarios: free-floating satellite motion and free-floating interaction (collision). Results show fidelity between the simulated motion commanded by the ODS and the one executed by the robot-mounted mockups.
Keywords: Virtual Robotic Models; Forward Dynamics; Inverse Kinematics; Orbital Motion; Clohessy-Wiltshire (CW)
 View PDF CEAS-GNC-2024-010


Mohatashem Reyaz Makhdoomi, Vivek Muralidharan, Kuldeep R. Barad, Juan Sandoval, Miguel Olivares-Mendez, Carol Martinez: Emulating On-Orbit Interactions Using Forward Dynamics Based Cartesian Motion. Proceedings of the 2024 CEAS EuroGNC conference. Bristol, UK. June 2024. CEAS-GNC-2024-010.
BibTeX entry:

@Incollection{CEAS-GNC-2024-010,
    author = {Makhdoomi, Mohatashem Reyaz and Muralidharan, Vivek and Barad, Kuldeep R. and Sandoval, Juan and Olivares-Mendez, Miguel and Martinez, Carol},
    title = {Emulating On-Orbit Interactions Using Forward Dynamics Based Cartesian Motion},
    booktitle = {Proceedings of the 2024 {CEAS EuroGNC} conference},
    address = {Bristol, UK},
    month = jun,
    year = {2024},
    note = {CEAS-GNC-2024-010}
}