(Department seminar no. 43)

Time: June, 16nd, 2016, 11:15
Place: room 208 C-3

Speaker: Tomasz Rybus, MSc.

Subject: Control of a Space Manipulator during Satellite Capture and Detumbling Maneuvers

 The main goal of the performed research was to develop a control system for space manipulator, that would allow to perform optimal capture maneuver and, after the capture, detumbling of a system composed of two satellites connected by the manipulator. Modular structure of the control system has been selected: trajectory planning module is responsible for planning manipulator trajectory, while trajectory execution module is responsible for realization of the selected trajectory despite disturbances and uncertainties in system parameters. Optimization algorithm, based on the calculus of variation, is used at the stage of trajectory planning for the capture maneuver, while Rapidly-exploring Random Trees (RRT) algorithm is used for trajectory planning after the capture. To ensure realization of the selected trajectory predictive control is used. Mathematical model of the space manipulator was tested during experiments performed in simulated microgravity conditions, while the control system was thoroughly tested in numerical simulations.