Satellite rendezvous maneuver

Project name: The dynamics of the satellite rendezvous and docking maneuver using nonholonomic robotic arm.

Consignee: The Faculty of Power and Aeronautical Engineering, Warsaw University of technology.

Author of the PhD thesis: K.Seweryn

Promoter: Doc. dr hab. Marek Banaszkiewicz

Timeframe of the Project:             


The mainobjective of the project  was to determine the dynamic characteristics of the satellite and cooperating with it  manipulator during the rendezvous and docking maneuver of the servicing satellite with the passive target satellite.

A significantpart of the project shows a forward and inverse kinematics and dynamics as well as trajectory planning problem of a manipulator located on the servicing satellite during the docking maneuver. It was assumed that the manipulator has six degrees of freedom, and that the ratio of the manipulator mass to the satellite mass is of the order ~ 0.1. Theseassumptionsimplyan analysis ofthe dynamics ofthe manipulatorandsatellitedynamics includingtheirinteractions.

 The work includesconstruction of an autonomous trajectory planning algorithm for translational and rotational movement of satellites based on the scenarios available in the literature, analysis of the dynamics of satellites with the manipulator, for which the momentum and angular momentum is not preserved, and to appoint adynamicinteractionbetween thesatelliteandmanipulator.

The proposed scenarioof rendezvous and docking maneuver reflects the subsequent phases of movement of the servicing satellite:
- Calculation of the target satellite motion parameters,
- Rendezvous in the orbital motion,
- Adjusting linear and rotation motion,

-Synchronous movement,
- and docking using the manipulator.

Grafika obrazująca jeden z etapów zbliżenia satelitów