Autonomous space processor for orbital debris

Ramohalli, Kumar; Marine, Micky; Colvin, James; Crockett, Richard; Sword, Lee; Putz, Jennifer; Woelfle, Sheri

The development of an Autonomous Space Processor for Orbital Debris (ASPOD) was the goal. The nature of this craft, which will process, in situ, orbital debris using resources available in low Earth orbit (LEO) is explained. The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. The focus was on the development of a versatile robotic manipulator to augment an existing robotic arm, the incorporation of remote operation of the robotic arms, and the formulation of optimal (time and energy) trajectory planning algorithms for coordinated robotic arms. The mechanical design of the new arm is described in detail. The work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time optimal and energy optimal problems. The time optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamic programming.

Document ID

19920010251

Acquisition Source

Legacy CDMS

Document Type

Conference Paper

Authors

Date Acquired

September 6, 2013

Publication Date

January 1, 1991

Subject Category

Report/Patent Number

Meeting Information

Meeting: Annual Summer Conference

Location: Cocoa Beach, FL

Country: United States

Start Date: June 17, 1991

End Date: June 21, 1991

Accession Number

92N19493

Funding Number(s)

Distribution Limits

Public

Work of the US Gov. Public Use Permitted.

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