{"id":563,"date":"2022-03-07T23:07:31","date_gmt":"2022-03-08T04:07:31","guid":{"rendered":"https:\/\/carleton.ca\/space-robotics\/?page_id=563"},"modified":"2022-03-08T01:55:15","modified_gmt":"2022-03-08T06:55:15","slug":"guidance-navigation-and-control-of-space-manipulators","status":"publish","type":"page","link":"https:\/\/carleton.ca\/space-robotics\/research\/guidance-navigation-and-control-of-space-manipulators\/","title":{"rendered":"GN&C of Space Manipulators"},"content":{"rendered":"

This research focuses on dynamic modeling, planning of the deployment, and execution of the autonomous motion of the robot arm of a space manipulator system in the manipulator deployment phase when chasing a noncooperative target (e.g. space debris). Using structures in Lie Group Theory and Differential Geometry, we develop singularity-free geometric frameworks for modeling underactuated open-chain multi-body systems with multi-DoF joints, in the presence of realistic disturbances in an orbital environment. Our focus is on the development of workspace optimal trajectory generators and robust output-tracking controllers for uncertain space manipulator systems experiencing non-zero momentum interpreted as affine nonholonomic constraints. In this research, we employ unique geometric characteristics of space manipulator systems hand-in-hand with deep reinforcement learning methods for trajectory learning and control.<\/p>\n

The precision and robustness of GN&C systems for in-orbit missions are adversely affected by orbital disturbances, which are captured by a high-fidelity simulator to examine the realistic performance of the proposed GN&C strategies. The simulator will be able to model high-order gravity terms, aerodynamic drag, and solar pressure. Additional uncertainties, e.g., friction, flexibility, estimated target parameters\/states, and sensor noise and dynamics that cannot be accurately simulated will be included through a kinematic 6-DoF hardware-in-the-loop facility consisting of two cooperative robot manipulator systems (KUKA LBR iiwa).<\/p>\n

\"\"<\/a>
\nCapturing a moving target<\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"

This research focuses on dynamic modeling, planning of the deployment, and execution of the autonomous motion of the robot arm of a space manipulator system in the manipulator deployment phase when chasing a noncooperative target (e.g. space debris). Using structures in Lie Group Theory and Differential Geometry, we develop singularity-free geometric frameworks for modeling underactuated […]<\/p>\n","protected":false},"author":5,"featured_media":0,"parent":133,"menu_order":1,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","_mi_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":"","_links_to":"","_links_to_target":""},"yoast_head":"\nGN&C of Space Manipulators - Autonomous Space Robotics and Mechatronics Laboratory<\/title>\n<meta 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