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Application of the obstacle vector field method for trajectory planning of a planar manipulator in simulated microgravity

Rybus Tomasz, Aleksiejuk Konrad, Basmadji Fatina Liliana, Sikorski Adam

Artificial Satellites : Journal of Planetary Geodesy

2023

Vol. 58, Special Issue 1

171--187

Capture and removal of large space debris is needed to prevent the growth of the debris population in low Earth orbit. Capture of a non-cooperative object by a manipulator mounted on a chaser satellite requires collision-free trajectory of the manipulator. The obstacle vector field (OVF) method allows to solve the trajectory planning problem in difficult scenarios. The OVF method is based on a vector field that surrounds the obstacles and generates virtual forces that drive the manipulator around the obstacles. The original formulation of the OVF method allows to obtain the desired position of the gripper, but not the desired orientation. To perform the grasping manoeuvre, the gripper has to be positioned in a specific point and aligned with the grasping interface. In this paper, we propose a modification to the OVF method that allows to obtain the desired position and orientation of the gripper. Moreover, we investigate the practical applicability of the OVF method. The OVF method is demonstrated in experiments performed on a planar air-bearing microgravity simulator. The presented results prove that the OVF method can be applied for a real system operating in simulated microgravity conditions.

The obstacle vector field (OVF) method for collision-free trajectory planning of free-floating space manipulator

Rybus Tomasz

Bulletin of the Polish Academy of Sciences. Technical Sciences

2022

Vol. 70, nr 2

art. no. e140691

Manipulators mounted on small satellites will be used to perform on-orbit servicing, removal of space debris, and assembly of large orbital structures. During such operations, the manipulator must avoid collisions with the target object or the elements of the assembled structure. Planning of the manipulator trajectory is one of the major challenges for the proposed missions because the motion of the manipulator influences the position and orientation of the satellite. Thus, the dynamic equations of motion must be used during trajectory planning. Methods developed for fixed-base manipulators working on Earth cannot be directly applied. In this paper, we propose a new obstacle vector field (OVF) method for collision-free trajectory planning of a manipulator mounted on a free-floating satellite. The OVF method is based on a vector field that surrounds the obstacles and generates virtual forces that drive the manipulator around the obstacles. The OVF method is compared with the classical artificial potential field (APF) method and the rapidly exploring random trees (RRT) method. In the presented examples the trajectory planning problem is solved for a planar case in which the satellite is equipped with a 2 DoF manipulator. It is shown that the OVF method is more efficient than the APF method, i.e., it allows us to solve the trajectory planning problem in some of the cases, in which the APF method is unsuccessful. The time required to find the solution with the use of the OVF method is shorter than the time needed by the APF and the RRT method.