Design and Adaptive Control of a Tendon-Driven Manipulator for the Capture of Non-Cooperative Space Targets

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Kernot, Justin Edward




Orbital debris in Earth orbit poses a threat to the future of spaceflight. To combat this issue, this thesis proposes a novel robotic mechanism for non-cooperative capture and active servicing missions on non-cooperative targets. Specifically, a tendon-driven manipulator designed to employ a synthetic gecko adhesive on the contact interface is proposed. Since the cable-sheath transmission mechanism is a non-linear time varying hysteretic system, two separate adaptive control strategies were compared against the uncontrolled and PID controlled performance of the closed-loop gripper. Specifically, an indirect control method (denoted AB controller in this work) and a direct L1 controller were employed. Both the simulations and experiments demonstrate that the adaptive controllers show better tracking performance of a joint trajectory over the PID and uncontrolled cases. The experimental results show that the L1 controller performs best under dynamic conditions, while the AB controller performs best in steady state.


Engineering - Aerospace
Space debris




Carleton University

Thesis Degree Name: 

Master of Applied Science: 

Thesis Degree Level: 


Thesis Degree Discipline: 

Engineering, Aerospace

Parent Collection: 

Theses and Dissertations

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