Algorithmization of Guidance and Motion Control of a Space Manipulation Robot in the Service Tasks of a Non-Operative Spacecraft

Nowadays there are many non-functioning spacecraft in orbit that have run out of fuel, or have failed due to breakdown. Therefore, the concept of a serviced space and the development of space manipulation robot for extending the spacecraft service life are becoming expedient. Space manipulation robot will be able to perform a variety of tasks, from inspecting malfunctions of a serviced spacecraft, to performing repairs and refueling the target vehicle. The article proposes a strategy and algorithms for the guidance and motion control of a space manipulation robot at the stage of rendezvous with a non-cooperative spacecraft to perform maintenance tasks. The purpose of the article is to synthesize the control of the translational and rotational motion of the space manipulation robot for its convergence with the target satellite at a given distance. The control system is presented in the form of a hierarchical two-level "guidance-stabilization" system. At the guidance level, a transition quaternion of the associated coordinate system to the required position is formed, as well as thrust engine control, which ensures the translational motion of the space manipulation robot at the required velocity. At the stabilization level, a control is formed that superpose the associated coordinate system of the space manipulation robot with the direction to the served satellite. The article proposes a scheme and a mathematical model of the propulsion system, angular and translational motion of the service satellite. The modeling of the developed guidance and motion control algorithms in the SIMULINK environment has been carried out.