Abstract
On-orbit servicing of spacecraft‘ will require the changeout of their components in space. These components are usually configured into Orbital Replacement Units (ORUs) so that they can be handled by astronauts performing Extra-Vehicular Activity (EVA). Current research in robotics concerning supplementing or replacing EVA use vision and force feedback. Unfortunately, these sensor modalities do not offer a simple way of sensing proximity and avoiding collisions between the ORU and the environment. We propose to use a capacitive sensor for the detection of proximity of the ORU to objects. This sensor provides position and orientation feedback, which can be useful in the positioning and alignment of the ORU with respect to the docking fixture. In this paper we describe an algorithm that has successfully docked and undocked an ORU in a space allowing less than 1” clearance without touching. The resulting algorithm is simple to implement, has modest computational requirements, and is able to continuously prevent collisions of the ORU with the environment.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
