Coupled Orbit-Attitude Dynamics and Control of a CubeSat Equipped with a Robotic Manipulator

Author

Charles M. Carr

Date of Award

3-2022

Document Type

Thesis

Degree Name

Master of Science in Astronautical Engineering

Department

Department of Aeronautics and Astronautics

First Advisor

Constantinos Zagaris, PhD

Abstract

This research investigates the utility and expected performance of a robotic servicing CubeSat. The coupled orbit-attitude dynamics of a 6U CubeSat equipped with a four-link serial manipulator are derived. A proportional-integral-derivative controller is implemented to guide the robot through a series of orbital scenarios, including rendezvous and docking following ejection from a chief spacecraft, repositioning the end effector to a desired location, and tracing a desired path with the end effector. Various techniques involving path planning and inverse differential kinematics are leveraged. Simulation results are presented and performance metrics such as settling time, state errors, control use, and system robustness are analyzed. Recommended improvements to the system design and the model are discussed.

AFIT Designator

AFIT-ENY-MS-22-M-283

Comments

Approved for public release, 88ABW-2022-0252.

Recommended Citation

Carr, Charles M., "Coupled Orbit-Attitude Dynamics and Control of a CubeSat Equipped with a Robotic Manipulator" (2022). Theses and Dissertations. 6918.
https://scholar.afit.edu/etd/6918