Dynamic Aspects in Satellite Capturing by Robotic Manipulator

Abstract

Since several years the interest in offering satellite services for maintenance and repair of malfunctioned satellites is strongly increasing. Currently, a very typical and actual application is dedicated to the rescue of a defect satellite (Rosat) in low earth orbit by means of a servicer satellite based manipulator [1]. The dynamic aspects are carefully considered in order to minimize both, the strong vibrational behavior of the combined satellite system, and the mechanical stresses in the slender boom and the robotic joints and arm structure, and consequently, to find the optimal capturing strategy.