Experiments in autonomous navigation and control of multi-manipulator, free-flying space robots

摘要

This paper reviews work performed at the Stanford University Aerospace Robotics Laboratory (ARL) in developing and controlling a multimanipulator, free-flying space robot. The objective of this project was to create a laboratory version of a space robot capable of performing target tracking, acquisition, and manipulation. In particular, this paper focuses on the problems associated with capturing a free-floating object that is initially out of reach of the robot. A set of rules for generating an appropriate intercept trajectory is presented along with a controller architecture capable of carrying out the required actions. We conclude with a description of the physical hardware on which this approach was tested along with experimental data showing the successful capture of a spinning object.