The Prototype Of Space Manipulator Wms Lemur Dedicated To Capture Tumbling Satellites In On-Orbit Environment

Karol Seweryn,Jedrzej Baran,Tomasz Barcinski,Pablo Colmenarejo, Aleksander Los,Tomasz Kowalski, Luis Mollinedo, Dario Mora,Jacek Musial,Gabriele Novelli,Jakub Oles, Katarzyna Ososinska,Pawel Pasko, Gaetano Prisco,Tomasz Rybus,Pedro Serra,Roman Wawrzaszek,Jesus Gil Fernandez

2017 11TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO)（2017）

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摘要

Manipulator mounted on an unmanned chaser satellite could be used for performing orbital capture maneuver in order to repair satellites or remove space debris from orbit. Use of manipulators for such purposes is challenging, since the performed task need to be done autonomously, accurately and with robustness even if possible high disturbances appear e.g. due to contact between the manipulator arm end-effector and the target spacecraft. In this paper the WMS LEMUR manipulator developed by CBK PAN is presented with focus on tests performed in the platform-art (c) facility in GMV Spain.

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关键词

space manipulator WMS LEMUR,tumbling satellites,on-orbit environment,unmanned chaser satellite,orbital capture maneuver,space debris,robustness,manipulator arm end effector,spacecraft,CBK PAN,GMV Spain

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