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| Main Author: | |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.22955 |
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| _version_ | 1866915533398474752 |
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| author | Bruschi, Pietro |
| author_facet | Bruschi, Pietro |
| contents | In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in space. A simulation environment is developed, incorporating sloshing dynamics of the chaser, a rarely studied effect in space robotics. The proposed controller combines an inner Lyapunov-based robust control loop for multi-body dynamics with an outer loop addressing an extended inverse kinematics problem. Simulation results show improved robustness and adaptability compared to existing control schemes. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_22955 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Hierarchical Control Architecture for Space Robots in On-Orbit Servicing Operations Bruschi, Pietro Robotics Systems and Control In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in space. A simulation environment is developed, incorporating sloshing dynamics of the chaser, a rarely studied effect in space robotics. The proposed controller combines an inner Lyapunov-based robust control loop for multi-body dynamics with an outer loop addressing an extended inverse kinematics problem. Simulation results show improved robustness and adaptability compared to existing control schemes. |
| title | A Hierarchical Control Architecture for Space Robots in On-Orbit Servicing Operations |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2509.22955 |