Chaser-Robotic Arm Combined Control and Optical Relative Navigation for Space Target Capture

A robotic system able to reach, capture and, if necessary, detumble a space target is a key technology required to carry out future in-orbit operations, such as On-Orbit Servicing (OOS) and Active Debris Removal (ADR). These mission scenarios involve complex technical challenges which can be addressed improving robustness and autonomy of Guidance, Navigation and Control functions. In this framework, this paper presents a research activity, conducted by a consortium of three Italian Universities under contract with the European Space Agency (ESA), aimed at development of algorithmic solutions for (i) combined control of a chaser equipped with a highly dexterous robotic arm, and (ii) target-chaser relative navigation exploiting Electro-Optical sensors. The performance of the proposed navigation and control techniques are tested both at unit level and in closed loop within a non-linear functional engineering simulator including realistic models for orbital, rotational and multi-body dynamics, as well as for chaser sensors and actuators. Data produced by passive cameras and active LIDAR systems are also realistically reproduced using the ESA Planet and Asteroid Natural Scene Generation Utility Tool. Preliminary design solutions and results are presented in this paper considering three OOS/ADR relevant scenarios, differing in terms of degree of target collaboration and cooperation.