Virtual testbeds for on-orbit servicing design and implementation of space robotics applications

The robotic servicing of satellites on-orbit will play an important role in extending their lifespan and mitigating space debris expansion. However, most maneuvers related to these goals present a set of unique challenges which are hard to assess in reality. On the other hand, a reliable prediction of the feasibility of servicing maneuvers is increasingly required. This paper presents a simulation-driven framework in which satellites approaching for servicing purposes is first decomposed in heterogeneous system components fulfilling specific mission critical objectives. These include vision-based tracking and estimation of the state of target satellites as well as robotic motion planning and control to reach a desired point on the satellite. A subsequent integration of these components allows to systematically capture key processes behind satellites approaching on-orbit in a holistic fashion. The high modularization and systematical interplays between the constituting system components enable a flexible and gradual enhancement of simulation fidelity. The significance of simulation results has been evaluated with respect to real setups. These results substantiate the effectiveness of the approach to facilitate complex and hazardous space activities while cutting down costs.