| Title: |
Advancements in Autonomous Space Robotics at ONERA : Control Frameworks and Co-Design Strategies for On-Orbit Servicing and Assembly |
| Authors: |
Kraïem, Sofiane; Rognant, Mathieu; Waitman, Sergio |
| Contributors: |
DTIS, ONERA, Université de Toulouse Toulouse; ONERA-Communauté d'universités et établissements de Toulouse (Comue de Toulouse); Ampère (AMPERE); École Centrale de Lyon (ECL); Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL); Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon); Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE); PRF ASTROLABE - 32327 |
| Source: |
IAGNC 2025 - Inter-Agency GNC VV Workshop ; https://hal.science/hal-05482195 ; IAGNC 2025 - Inter-Agency GNC VV Workshop, Jul 2025, toulouse, France ; https://events.isae-supaero.fr/event/38/ |
| Publisher Information: |
CCSD |
| Publication Year: |
2025 |
| Collection: |
HAL Lyon 1 (University Claude Bernard Lyon 1) |
| Subject Terms: |
Space Manipulator Systems; [PHYS]Physics [physics]; [MATH]Mathematics [math]; [SPI]Engineering Sciences [physics] |
| Subject Geographic: |
toulouse; France |
| Description: |
International audience ; Space Manipulator Systems (SMS) are becoming key in space exploitation and exploration, offering a versatile range of solutions from space debris capture to structure assembly. However, recent missions involving manipulators aboard satellites and space structures must deal with lightweight and large ele- ments that exhibit flexible behaviors. Despite the challenges posed by flexible elements, enhancing the autonomy of SMS remains crucial to ensure their viability as solutions. For the pre-design of the SMS, path-planning applications, or controller design, there is a necessity for methods to assess the couplings between the manipulator, the SMS base, and any flexible elements manipulated by the manipulator or attached to the base. Moreover, recently proposed control strategies have demonstrated a keen interest in developing model-based controllers, which advantageously provide an efficient utilization of actua- tors and mitigation of internal disturbances within the system. The presentation focuses on recent research conducted at ONERA to design and validate control strate- gies for SMS performing On-Orbit Servicing (OOS) in the presence of flexible structures. These strate- gies are analyzed and validated across varying levels of detail and realism. The first part of the presentation addresses the derivation of kinematic and dynamic models for a free- floating SMS with a flexible body attached at the end of a kinematic chain, using a Lagrangian formal- ism. The second part presents ONERA’s real-time simulation platform, specifically developed to enable the rapid design, prototyping, and testing of model-based control solutions at fine time scales. The platform’s software and hardware architecture ensures high-fidelity modeling of space robot dynamics and flexible structures, integrating visual environment models for state observation, computer vision processing, virtual sensor data fusion, and full robot control. Finally, the presentation will demonstrate the platform’s value and ... |
| Document Type: |
conference object |
| Language: |
English |
| Availability: |
https://hal.science/hal-05482195 |
| Accession Number: |
edsbas.85939897 |
| Database: |
BASE |