Cooperative control of modular space robots

Authors:
Chiara Toglia;Fred Kennedy;Steven Dubowsky
Affiliations:
Dipartimento di Meccanica e Aeronautica, Università di Roma "La Sapienza", Roma, Italy 00184;Joint Chiefs of Staff/J-8, US Air Force, Washington, USA 20318-8000;Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, USA 02139
Venue:
Autonomous Robots
Year:
2011

Citing 3
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Abstract

Modular self-assembling on-orbit robots have the potential to reduce mission costs, increase reliability, and permit on-orbit repair and refueling. Modules with a variety of specialized capabilities would self-assemble from orbiting inventories. The assembled modules would then share resources such as power and sensors. As each free-flying module carries its own attitude control actuators, the assembled system has substantial sensor and actuator redundancy. Sensor redundancy enables sensor fusion that reduces measurement error. Actuator redundancy gives a system greater flexibility in managing its fuel usage. In this paper, the control of self-assembling space robots is explored in simulations and experiments. Control and sensor algorithms are presented that exploit the sensor and actuator redundancy. The algorithms address the control challenges introduced by the dynamic interactions between modules, the distribution of fuel resources among modules, and plume impingement.