Space Robot Control for On-Orbit Servicing

Challenges

• Not designed for robotic grasping​
• Physical properties unknown​
• Fast spinning or tumbling​
• High risk with proximity and contact operation​
• Vision alone is insufficient for full estimation​

Applications​

• Space situation awareness​
• Satellite on-orbit services such as refuel, rescue, repair, debris cleanup, etc.

Publications​

• Flores-Abad, A.; Ma, O.; Pham, K.; and Ulrich, S.; “A Review of Robotics Technologies for On-Orbit Services”, Progress in Aerospace Science, Vol.68, 2014, pp.1-26.
• Flores-Abad, A.; Zhang, L.; Zheng, W.; and Ma, O.; “Optimal Capture of a Tumbling Object in Orbit Using a Space Manipulator”, Journal of Intelligent and Robotic Systems, Vol. 86, Issue 2, 2017, pp 199–211.​
• Meng Q., Liang, J.; and Ma, O., “Identification of All the Inertial Parameters of a Non-cooperative Object in Orbit”, Aerospace Science and Technology, Vol. 91, August 2019, pp. 571-582.