Problem
Research questions and friction points this paper is trying to address.
space robotic manipulation
dynamic target
on-orbit servicing
microgravity
non-cooperative target
Learning Smooth and Robust Space Robotic Manipulation of Dynamic Target via Inter-frame Correlation
🤖 AI Summary
This study addresses the challenges of precise manipulation of unknown, non-cooperative dynamic targets in on-orbit servicing, where microgravity induces unconstrained, free-floating motion that hinders real-time performance using conventional approaches. To overcome this, the authors propose a data-driven method for space robotic manipulators that, for the first time, integrates historical temporal information with inter-frame correlation mechanisms to model target motion dynamics and generate smooth, stable control trajectories. The approach is experimentally validated on a ground-based microgravity simulation system comprising a PIPER X robotic arm and a dual-axis linear platform, demonstrating significant improvements in real-time responsiveness, robustness, and operational accuracy within unstructured environments in two-dimensional planar tasks.
📝 Abstract
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating, lacking the support and frictional constraints found on Earth, which significantly escalates the complexity of tasks involving space robotic manipulation. Conventional planning and control-based methods are primarily limited to known, static scenarios and lack real-time responsiveness. To achieve precise robotic manipulation of dynamic targets in unknown and unstructured space environments, this letter proposes a data-driven space robotic manipulation approach that integrates historical temporal information and inter-frame correlation mechanisms. By exploiting the temporal correlation between historical and current frames, the system can effectively capture motion features within the scene, thereby producing stable and smooth manipulation trajectories for dynamic targets. To validate the effectiveness of the proposed method, we developed a ground-based experimental platform consisting of a PIPER X robotic arm and a dual-axis linear stage, which accurately simulates micro-gravity free-floating motion in a 2D plane.
Innovation
Methods, ideas, or system contributions that make the work stand out.
inter-frame correlation
data-driven manipulation
dynamic target
space robotics
temporal information
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