A convex-programming-based guidance algorithm to capture a tumbling object on orbit using a spacecraft equipped with a robotic manipulator. (January 2019)

• Record Type: Journal Article
• Authors: Virgili-Llop, Josep; Zagaris, Costantinos; Zappulla, Richard; Bradstreet, Andrew; Romano, Marcello
• Is Part Of: International journal of robotics research. Volume 38:Number 1(2019)
• Page Start: 40
• Page End: 72
• Publication Date: 2019-01
• Subjects: Computational guidance and control -- convex programming -- space robotics -- on-orbit servicing -- space debris; Robots -- Periodicals; Robots, Industrial -- Periodicals; 629.89205
• DOI: 10.1177/0278364918804660
• Languages: English
• ISSNs: 0278-3649

Abstract

An algorithm to guide the capture of a tumbling resident space object by a spacecraft equipped with a robotic manipulator is presented. A solution to the guidance problem is found by solving a collection of convex programming problems. As convex programming offers deterministic convergence properties, this algorithm is suitable for onboard implementation and real-time use. A set of hardware-in-the-loop experiments substantiates this claim. To cast the guidance problem as a collection of convex programming problems, the capture maneuver is divided into two simultaneously occurring sub-maneuvers: a system-wide translation and an internal re-configuration. These two sub-maneuvers are optimized in two consecutive steps. A sequential convex programming procedure, overcoming the presence of non-convex constraints and nonlinear dynamics, is used on both optimization steps. A proof of convergence is offered for the system-wide translation, while a set of structured heuristics—trust regions—is used for the optimization of the internal re-configuration sub-maneuver. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as supplementary material.