Manipulator Mounted on a Satellite versus Manipulator Mounted on UAV Helicopter - Comparative Study

Abstract

The free-floating satellite performing autonomous rendezvous and docking maneuver (RVD) to the uncontrolled target satellite is a topic of discussion especially in context of the path planning optimization, control algorithm design as well as approach to the testing procedure. In this paper we investigate the possibility of using an unmanned helicopter as a test platform for examination of control algorithms which could be used on the satellitemanipulator system. We are presenting the typical RVD maneuver in which uncontrolled tumbling satellite is captured by manipulator arm. Then, to prove the correct development of the simulation tool as well as the controller of the space robots (6+6 DoF) during RVD maneuver, the comparison of the simulation and testing of the helicopter equipped with manipulator arm (6+2 DoF) is performed. Additionally, design of a special lightweight manipulator applicable to UAV is presented.