Performance Study of Different Robotic Manipulator Systems Designed for Space Debris Management

摘要

This paper proposes electronics and auxiliary system design requirements generated for particular torque and power of robotic manipulator attached with under-actuated gripper mounted on a self-stabilized spacecraft designed for capture of debris and refueling of satellite. Simulation is carried out at our robotics laboratory with different types of controllers like Proportional-integral-derivative (PID), Linear-quadratic-regulator (LQR), Fuzzy logic controller (FLC) and Sliding mode control (SMC) in order to decide the best controller for this application.