A modelling and simulation system of space robot for capturing non-cooperative target

摘要

Space robotic systems are expected to play an increasingly important role in the future. The applications include repairing, refuelling or the de-orbiting of a satellite, or removal of space debris. Such objects are generally non-cooperative, i.e. neither any artificial patterns used for the measurement nor grappling fixtures applied for the capture are mounted on the targets. In this article, we propose a method for autonomous rendezvous with and capturing of a non-cooperative object in space and develop a modelling and simulation system to verify the corresponding algorithms. The system, realized in VC® (Microsoft Visual C++) environment, is composed of seven modules: Image Processing and 3D Reconstruction, the Planning and Control of the Chaser, the Target Controller, the Dynamic Model, the Geometry Model, the Binocular Cameras Model and the Stereo Calibration Module . With the system, the closed-loop simulations, including image grabbing, image processing, pose measurement, chaser guidance, navigation and control (GNC) and the system's dynamic motion, were conducted and the key algorithms validated.