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Receding Horizon Robot Control for Autonomous Spacecraft Capture

Meckstroth, Christopher
http://orcid.org/0000-0003-3445-1718
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1283459842

Abstract Details

2010, MS, University of Cincinnati, Engineering and Applied Science: Aerospace Engineering.
A large portion of desired future space missions require spacecraft having the ability to autonomously rendezvous and grapple one another. This thesis investigates the second portion of this task, namely the real-time path planning of a 7 degree of freedom robotic arm for the purpose of autonomously grappling satellites using a method based on Receding Horizon Control (RHC). RHC was chosen for the algorithm’s ability to perform in real-time by calculating the path over a future time interval while traversing the previously calculated path. A successful grapple requires the dexterous arm to maneuver an end effector into the cylindrical hole provided by one of the four fixtures used to attach the satellite to the launch vehicle which placed it into orbit. This must be accomplished while maintaining constraints and limitations imposed by the robot arm kinematics and joint limitations and at the same time avoiding interference with other portions of the satellite such as the thruster nozzle. A 3-D Visualization Software Toolkit was developed for the simulation and validation of the path planner developed in this thesis. Using this software, a fully simulated experiment was developed in which the robot arm attempted to grapple each of the attachment fixtures from a total of 8,000 different random initial arm poses. The results showed goals were achieved in both planning of the path in real-time with average calculation times of the entire path less than 20 seconds and success in grappling the target satellite with without ever failing when grappling the nearest attachment fixture to the robot end effector for joint angles separately varying uniformly by ±30 degrees from nominal positions.
Kelly Cohen, PhD (Committee Chair)
Ernest Hall, PhD (Committee Member)
Albert Bosse, PhD (Committee Member)
Bruce Walker, ScD (Committee Member)
123 p.
Aerospace Materials
Receding Horizon; Path Planner; Autonomous; Robotic

Recommended Citations

Citations

  • Meckstroth, C. (2010). Receding Horizon Robot Control for Autonomous Spacecraft Capture [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1283459842

    APA Style (7th edition)

  • Meckstroth, Christopher. Receding Horizon Robot Control for Autonomous Spacecraft Capture. 2010. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1283459842.

    MLA Style (8th edition)

  • Meckstroth, Christopher. "Receding Horizon Robot Control for Autonomous Spacecraft Capture." Master's thesis, University of Cincinnati, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1283459842

    Chicago Manual of Style (17th edition)

ucin1283459842
782
© 2010, some rights reserved.Creative Commons License Receding Horizon Robot Control for Autonomous Spacecraft Capture by Christopher Meckstroth is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by University of Cincinnati and OhioLINK.