Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
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| _version_ | 1866914221235634176 |
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| author | Iizuka, Kenta Uchida, Akiyoshi Uno, Kentaro Yoshida, Kazuya |
| author_facet | Iizuka, Kenta Uchida, Akiyoshi Uno, Kentaro Yoshida, Kazuya |
| contents | Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization for a close-range rendezvous to bring a free-floating, rotating debris object in a two-dimensional plane into the manipulator's workspace, as a preliminary step for its capture. The proposed method introduces a dynamic keep-out sphere that adapts depending on the approach conditions, allowing for closer and safer access to the target. Furthermore, a control strategy is developed to reproduce the optimized trajectory using discrete ON/OFF thrusters, considering practical implementation constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_21882 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking Iizuka, Kenta Uchida, Akiyoshi Uno, Kentaro Yoshida, Kazuya Robotics Systems and Control Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization for a close-range rendezvous to bring a free-floating, rotating debris object in a two-dimensional plane into the manipulator's workspace, as a preliminary step for its capture. The proposed method introduces a dynamic keep-out sphere that adapts depending on the approach conditions, allowing for closer and safer access to the target. Furthermore, a control strategy is developed to reproduce the optimized trajectory using discrete ON/OFF thrusters, considering practical implementation constraints. |
| title | Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2512.21882 |