Smart capture tool for space robots

摘要

On-Orbit-Servicing missions aim to improve the operative life of orbiting satellites. Among the studied technologies, the most promising are satellites equipped with one or more robotic arms (space robots). One robotic arm might be employed to establish a rigid connection with the target satellite, while the other performs the servicing operations. Nowadays, the control of the capture tool is managed by the computer of the space robot. However, it is possible to distribute the control tasks between the capture tool and the space robot. For this purpose, this paper presents the development of the SMArt Capture Kit (SMACK). SMACK is a standalone capture system equipped with sensors, actuators, and an integrated computer. In this fashion, the capture tool executes the guidance and navigation algorithms, and the control of the actuators; so that the space robot acts as the “positioning” system for the capture tool. The paper provides a description of all the subsystems of SMACK and their experimental validation. The tests of SMACK at the system level, confirm its capabilities to autonomously perform the capture the target interface.