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Seamless Capture and Stabilization of Spinning Satellites By Space Robots with Spinning Base

Farhad Aghili

TL;DR

The paper addresses the challenge of capturing and stabilizing a fast-spinning satellite by introducing a spinning-base servicing vehicle that performs a three-phase operation: Phase A achieves spin matching with the target using reaction wheels while the manipulator joints are locked, Phase B coordinates grasping with zero relative rotation to the target, and Phase C detumbles the coupled system by transferring angular momentum to the reaction wheels under actuator limits. A Lyapunov-based attitude controller governs Phase A, while Phase B employs a coordinated planning and control law to ensure a smooth, attitude-synchronized grasp; Phase C uses a detumbling controller with a closed-form optimization to maximize damping rate. The approach yields seamless end-to-end planning, eliminates post-capture trajectory planning, and demonstrates that angular momentum can be transferred from the target to the servicing spacecraft’s momentum wheels for rapid stabilization. The work has practical implications for autonomous on-orbit servicing, enabling reliable capture and rapid stabilization of non-cooperative, spinning targets within actuator constraints.

Abstract

This paper introduces an innovative guidance and control method for simultaneously capturing and stabilizing a fast-spinning target satellite, such as a spin-stabilized satellite, using a spinning-base servicing satellite equipped with a robotic manipulator, joint locks, and reaction wheels (RWs). The method involves controlling the RWs of the servicing satellite to replicate the spinning motion of the target satellite, while locking the manipulator's joints to achieve spin-matching. This maneuver makes the target stationary with respect to the rotating frame of the servicing satellite located at its center-of-mass (CoM), simplifying the robot capture trajectory planning and eliminating post-capture trajectory planning entirely. In the next phase, the joints are unlocked, and a coordination controller drives the robotic manipulator to capture the target satellite while maintaining zero relative rotation between the servicing and target satellites. The spin stabilization phase begins after completing the capture phase, where the joints are locked to form a single tumbling rigid body consisting of the rigidly connected servicing and target satellites. An optimal controller applies negative control torques to the RWs to dampen out the tumbling motion of the interconnected satellites as quickly as possible, subject to the actuation torque limit of the RWs and the maximum torque exerted by the manipulator's end-effector.

Seamless Capture and Stabilization of Spinning Satellites By Space Robots with Spinning Base

TL;DR

The paper addresses the challenge of capturing and stabilizing a fast-spinning satellite by introducing a spinning-base servicing vehicle that performs a three-phase operation: Phase A achieves spin matching with the target using reaction wheels while the manipulator joints are locked, Phase B coordinates grasping with zero relative rotation to the target, and Phase C detumbles the coupled system by transferring angular momentum to the reaction wheels under actuator limits. A Lyapunov-based attitude controller governs Phase A, while Phase B employs a coordinated planning and control law to ensure a smooth, attitude-synchronized grasp; Phase C uses a detumbling controller with a closed-form optimization to maximize damping rate. The approach yields seamless end-to-end planning, eliminates post-capture trajectory planning, and demonstrates that angular momentum can be transferred from the target to the servicing spacecraft’s momentum wheels for rapid stabilization. The work has practical implications for autonomous on-orbit servicing, enabling reliable capture and rapid stabilization of non-cooperative, spinning targets within actuator constraints.

Abstract

This paper introduces an innovative guidance and control method for simultaneously capturing and stabilizing a fast-spinning target satellite, such as a spin-stabilized satellite, using a spinning-base servicing satellite equipped with a robotic manipulator, joint locks, and reaction wheels (RWs). The method involves controlling the RWs of the servicing satellite to replicate the spinning motion of the target satellite, while locking the manipulator's joints to achieve spin-matching. This maneuver makes the target stationary with respect to the rotating frame of the servicing satellite located at its center-of-mass (CoM), simplifying the robot capture trajectory planning and eliminating post-capture trajectory planning entirely. In the next phase, the joints are unlocked, and a coordination controller drives the robotic manipulator to capture the target satellite while maintaining zero relative rotation between the servicing and target satellites. The spin stabilization phase begins after completing the capture phase, where the joints are locked to form a single tumbling rigid body consisting of the rigidly connected servicing and target satellites. An optimal controller applies negative control torques to the RWs to dampen out the tumbling motion of the interconnected satellites as quickly as possible, subject to the actuation torque limit of the RWs and the maximum torque exerted by the manipulator's end-effector.
Paper Structure (7 sections, 41 equations, 6 figures, 3 tables)

This paper contains 7 sections, 41 equations, 6 figures, 3 tables.

Table of Contents

  1. Introduction
  2. Guidance and Control
  3. Phase A: Matching Spin Maneuver (MSM)
  4. Phase B: Simultaneous Grasping and Spin Synchronization
  5. Phase C: De-spinning Via Angular Momentum Transfer to Reaction Wheels
  6. Simulation Results
  7. Conclusion

Figures (6)

  • Figure 1: The concept of capture and stabilization of a spinning space target by a spinning-base servicing robot.
  • Figure 2: The relative angular velocity and attitude of the target satellite w.r.t. the servicing satellite base.
  • Figure 3: The time-histories of the position and orientation of the target satellite w.r.t the robot end-effector.
  • Figure 4: The time-histories of the linear and angular velocities of the target satellite w.r.t the robot end-effector.
  • Figure 5: The time-histories of the reaction wheels torque and end-effector torque.
  • ...and 1 more figures