期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2017
卷号：11
期号：2
页码：95
DOI：10.14313/JAMRIS_2-2017/21
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The utilization of satellites equipped with robotic arms is one of the existing strategies for Active Debris Removal (ADR). Considering that the time intended for on-orbit capturing manoeuvres is strictly limited, any given space robot should possess a certain level of autonomy. This paper is about the control of on-orbit space robots and the testing of such objects in laboratory conditions. The Space Research Centre of the Polish Academy of Sciences (CBK PAN) possesses a planar air bearing microgravity simulator used for the testing of advanced control algo- rithms of space robots supported on air bearings. This paper presents recent upgrades to the testing facility. Firstly, the base of the space robot is now equipped with manoeuvre thrusters using compressed nitrogen and therefore allowing for position control of the entire sys- tem. Secondly, a signal from an external vision system, referencing the position and orientation of the robot's parts is used by the control system for the closed loop control.
关键词：space debris; Active Debris Removal; Kessler ; syndrome; microgravity simulator; space robot; robotic ; arm; manipulator; control algorithm
