Impact modeling and reactionless control for post-capturing and maneuvering of orbiting objects using a multi-arm space robot

Deepak Raina - Master's Research

Introduction

• Unified framework for modeling and control of multi-arm floating base robotics systems in pre-impact, impact and post-impact phases while capturing orbiting objects.

• Post-impact reactionless control strategy for stabilization of robot base in the post-capture  phase of multi-arm open- and closed-loop impact cases.

• Strategies for target maneuvering to the desired location in the post-impact phase with and without reactionless control strategy.

• Adaptive reactionless control framework for capturing and maneuvering of orbiting objects with unknown parameters for multi-arm open- and closed-loop systems.

• Numerical studies of pre-impact, impact and post-impact phases for multi-arm open- and closed-loop impacts and investigating the effects of relative velocity and angle of approach on impact forces.

Results

Open-Loop Impact Modeling

Closed-Loop Impact Modeling

Target Manoeuvring with Reactionless Manipulation

Videos

Future work

Experimental validation on earth-based prototype of dual arm space robot

Publications

1. Deepak Raina*, Sunil Gora*, Dheeraj  Maheshwari and Suril Vijaykumar Shah, "Impact Modeling and Reactionless Control for post-capturing and manoeuvring of orbiting objects using a Multi-arm space robot.", Acta Astronautica 2021.

2. Deepak Raina, Sunil Gora, and Suril Vijaykumar Shah. "Reactionless control and target manoeuvring of orbiting object in post-capture phase using a multi-arm space robot." Workshop on Space Robotics, International Conference on Robotics and Automation (ICRA) 2020.

3. Deepak Raina, Sunil Gora, and Suril Vijaykumar Shah. "Modeling and Estimation of Closed-Loop Impact for Multi-arm Space Robot While Capturing a Tumbling Orbiting Object." In Machines, Mechanism and Robotics, pp. 561-570. Springer, Singapore, 2019.

4. Deepak Raina, and Suril V. Shah. "Impact modeling and estimation for multi-arm space robot while capturing tumbling orbiting objects." In Proceedings of the Advances in Robotics, pp. 1-6. 2017.

Contact

Please write an email to surilshah@iitj.ac.in for more details of the research. The MATLAB codes used to perform the simulations are available from the corresponding author upon request.