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CEAS EuroGNC 2024

Admittance Control Strategy for the Emulation of Space Debris Capture in a Ground Robotic Facility
Barış Can Yalçın Research Associate, Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, 1359 Kirchberg-Luxembourg.
Mohatashem Reyaz Makhdoomi Doctoral Candidate, Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, 1359 Kirchberg-Luxembourg.
Maxime Hubert Delisle Doctoral Candidate, Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, 1359 Kirchberg-Luxembourg.
Xiao Li Doctoral Candidate, Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, 1359 Kirchberg-Luxembourg.
Miguel Olivares-Mendez Professor, Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, 1359 Kirchberg-Luxembourg.
Carol Martinez Research Scientist, Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, 1359 Kirchberg-Luxembourg.
Abstract:
The rapid increase in space debris within Low-Earth Orbit (LEO) has prompted space agencies to consider Active Debris Removal (ADR) systems as a viable solution for ensuring the safety of space activities. While current capturing systems are primarily designed for large, cooperative satellites, there remains a significant threat from numerous uncooperative small debris in LEO. To address this challenge, we proposed a Flexible Capturing System called FlexeS that includes an Active Compliance Unit (ACU) and a Passive Compliance Unit (PCU) to dissipate impact energy and expanding the range of capturable space debris. This paper presents admittance control strategy created to emulate FlexeS' ACU with UR10e robotic arms located in the Zero-G Lab facility at UniLu. Results confirm the effectiveness of the admittance control strategy to emulate the ACU behaviour during space debris capture. The study has been conducted under the project "High fidELity tEsting eNvironment for Active Space Debris Removal - HELEN"
Keywords: Orbital Robotics; Space Robotics; Active Space Debris Removal; Orbital Robotics Facilities; Force feedback
 View PDF CEAS-GNC-2024-031


Barış Can Yalçın, Mohatashem Reyaz Makhdoomi, Maxime Hubert Delisle, Xiao Li, Miguel Olivares-Mendez, Carol Martinez: Admittance Control Strategy for the Emulation of Space Debris Capture in a Ground Robotic Facility. Proceedings of the 2024 CEAS EuroGNC conference. Bristol, UK. June 2024. CEAS-GNC-2024-031.
BibTeX entry:

@Incollection{CEAS-GNC-2024-031,
    author = {Yal\c{c}{\i}n, Bar{\i}\c{s} Can and Makhdoomi, Mohatashem Reyaz and Hubert Delisle, Maxime and Li, Xiao and Olivares-Mendez, Miguel and Martinez, Carol},
    title = {Admittance Control Strategy for the Emulation of Space Debris Capture in a Ground Robotic Facility},
    booktitle = {Proceedings of the 2024 {CEAS EuroGNC} conference},
    address = {Bristol, UK},
    month = jun,
    year = {2024},
    note = {CEAS-GNC-2024-031}
}