Analysis of Intra-Vehicular Manipulation using Robotic Free-Flyers
Monica Ekal, Federico Turchetti, Neal Y. Lii, Máximo A. Roa · 2024
Intra-vehicular free-flyer systems (IVFFS), in addition to being micro-gravity test beds for autonomy algorithms, are also used to develop caretaking and crew-assistance capabilities for future space stations. The International Space Station (ISS) has hosted an assortment of IVFFS since the deployment of NASA's SPHERES in 2006, with JAXA's IntBall, DLR-Airbus' CIMON and NASA's Astrobee being the current resident IVFFS. Despite the long history of onboard free-flyers, in-space manipulation with IVFFS has been demonstrated to a limited extent. Manipulation capabilities are crucial for onboard autonomy; IVFFS could help alleviate the duties of the crew by performing maintenance or tending to scientific experiments. This paper presents a review of existing IVFFS while examining their potential to perform intra-vehicular manipulation. This discussion is supported by a simulation study of an intra-vehicular floating-base robotic manipulator. Free-flying robot manipulators are governed by distinct dynamics owing to their mobile base, and advanced motion planning and control algorithms are essential for precise task execution. Accounting for the specific considerations of IVFFs, including mass, size, and a constrained environment, a simulation study of the robot's torque requirements while performing a sample cargo grappling task in free-floating and base-stabilization mode is presented. In drawing platform-independent conclusions from this analysis, this paper aims to highlight the requirements and challenges for future IVFFS to raise their autonomy levels by gaining the capability to perform common intra-vehicular manipulation tasks.