Karol Seweryn
Tomasz Rybus
Subject: Development and validation of a compliant control system for a space manipulator performing contact phase of in-orbit capture of a satellite
During the capture maneuver, the gripper mounted on the manipulator comes into contact with an element of the captured object. The manipulator’s control system must adapt to the external forces resulting from the contact, which is a highly nonlinear phenomenon. The task involves developing a model of the contact and a compliant control algorithm that takes into account the fact that the manipulator’s motion, through dynamic coupling, affects the position and attitude of the servicing satellite on which the manipulator is mounted. The validation of the control algorithm will be performed using numerical simulations and experiments conducted on the planar air-bearing microgravity simulator at CBK PAN. The candidate should have basic knowledge of robotics and programming skills in MATLAB and C.
