Motion Planning for the On-orbit

Grasping of a Tumbling Target

with Large Momentum
Roberto Lampariello

Institute of Robotics and Mechatronics

German Aerospace Center (DLR)
 Contents

• Some Past and Current Space Programs

• Free-flying robots and related problems
• Motion Planning for Grasping a Tumbling
Target
• Other applications
• Conclusion

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 2

 Past and Current Space Programs
• ETS-VII – NASDA

• Workshop on On-orbit Servicing of

Space Infrastructure Elements Via
Automation & Robotics Technology:
“Developing a Roadmap”

• Orbital Recovery – ConeXpress

• TECSAS

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 3

TECSAS -Technology Satellite for demonstration
and Verification of Space Systems

Target spinning axis

(ω = 4 deg/sec)

Target satellite
mTARGET ≈ mCHASER

Manipulator Sarah hand

(7 D.O.F.) Handle
(CSA)

Chaser satellite
(thruster controlled)
Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 4
 Free-flying robot dynamics and related problems

• free-floating dynamics
• free-floating vs. free-flying
• optimal minimum may be
the free-floating solution
but this is a priori unknown

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 5

 Free-flying robot dynamics and related problems (2)
• dynamic coupling - potential collision
• external actions vs. uncertainty – require identification
• path planning solutions are inertial parameter dependent

Non-expert Semi-expert Planned

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 6
 Algorithm (Lampariello, Agrawal – ICRA ‘03)
Motivation:
A free-flying robot is generally subject to:
• spacecraft control actions
• orbital disturbances (gravity gradient, orbital
dynamics)
• as well as robot torques
Free-floating approximation is only valid for:
• local motions or short operations
Require an efficient planner

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 7

 Problem Definition

• Path planning for actuated as well as for non-

actuated spacecraft degrees of freedom
• Optimal solution for minimal energy
• Fast solutions for realistic applications
• Dynamically feasible solutions
• Point-to-point maneuvers of the robot end-effector
and grasping maneuvers for a moving target

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 8

 Algorithm Methodology
• Spatial model of free-flying robot
• Initial and final end-effector state defined in inertial
space or a given target motion
• Final robot configuration unknown & optimized
(no BVP!)
• Single shooting optimization problem
• Motion planning in joint space for avoidance of
dynamic singularity problem

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 Equations of motion - fully actuated system
State space variables:

Kinematics:

Dynamics:

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 Modeling - rheonomic joints

Let state space variables be:

and rheonomically driven variables:
New equations:

• is dependent on , a prescribed function of

time
• order of equations = 6 - d.o.f.s of base body
• Free-floating system:

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 11

 Trajectory Planning - optimization problem:
point-to-point
• Equality constraints: initial and final end-effector
position and orientation:
(kinematics)

• Inequality constraints:
(inverse dynamics)

• Cost function:
(base actuation)

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 12

 Use of Free-floating solution

• Local workspace - workspace with no base

actuation → free-floating solution
= from integration of equations of motion
• Global workspace - all reachable free space
→ free-flying solution
= free-floating solution +
extra parametric function of base states

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 13

 Trajectory Planning Solver
Optimization problem: for
- one free parameter for each state variable

Parameterization of state variables:

E.g. base position

free-floating solution + polynomial order 5

Parameters:

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 14

 Results - Path in local workspace
• Initial state:

• Desired final state:

• Cost: 8e-3 kg m/s

• Computational time ~
5-7 seconds
• Initial guess:

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 15

 Results - Path in global workspace

• Desired final state:

• Cost: 4460 kg m/s (1815

kg m/s
for translational forces)
• Computational time
~ 10 seconds
• Initial guess: as previous

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 16

 Motion Planning for Grasping a Tumbling Target

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 17

 Motion Planning for Grasping a Tumbling Target (2)

Three phases:
• Approach to target
• Tracking of grasping point – inverse kinematics
• Grasping and stabilization

Inequality constraints:
• As previously for the point-to-point problem
• Inequality constraints on chaser satellite states
(collision avoidance) and end-effector forces
• Same cost function (base actuation)
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 Motion Planning for Grasping a Tumbling Target (3)

Motivation for path planning:

• due to free-floating state, need to guarantee no collision

• due to tracking phase for minimum impact, need to guarantee
feasibility of solution (joint limits, singularities, etc.)
• due to large momentum, need to guarantee stabilization of
residual motion
• can optimize for safety (initial chaser attitude and robot
configuration, chaser actuation, etc.)

→ need a realistic model

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 Motion Planning for Grasping a Tumbling Target (4)

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 Other Applications – Parameter Identification

• Modeling requirements
• Experimental design

ETS-VII Experimental Data

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 Other Applications
Compensation Maneuvers for a 2D platform

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 22

 Conclusion - Problems and Demands

• Path planning method provides optimal solutions for

maneuvers in local and global workspaces but is highly
nonlinear
• Collision avoidance and improve algorithm efficiency
• Integral modeling environment for all mentioned
functionalities
• Motion planning problems are diverse and model-
based.

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 Thank you!

Date: 08/01/2005 Institute of Robotics and Mechatronics, DLR MOVIE 24