SM@SHe is a Python library for the autonomous trajectory learning and control of free-floating space manipulator arms intended for the purpose of debris removal, on-orbit servicing, rendezvous & docking etc. The capabilities of SM@SHe can be summarized as shown in figure.
*Capabilities of SM@SHe*
*Model Predictive Control of 9-DOF spacecraft-arm*
References
- Y. Umetani, K Yoshida, "Resolved Motion Rate Control of Space Manipulators with Generalized Jacobian Matrix", IEEE Trans. on Robotics and Automation, vol. 5, no. 3, pp. 303-314, 1989.
- Markus Wilde, Stephen Kwok Choon, Alessio Grompone and Marcello Romano, "Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer’s Tutorial", Frontiers in Robotics & AI, 2018
- EG Papadopoulos On the dynamics and control of space manipulators, 1990