Target Capture of Space Robot

Introduction

This is a couse project of the Space Robot course at the Department of Automation, Tsinghua University.

In this course project, we propose a scheme for capturing a target satellite out of control using a space robot. The space robot is a service satellite with two robot manipulators. During the on-orbit service, the space robot needs to capture the disabled and spinning target satellite, stop its spinning, restabilize it, and fix it up. We design the robot mechanics and the gripper mechanics, analyze the workspace of the manipulators, and simulate the target capture process based on the PyBullet simulator.

Video URL: https://www.bilibili.com/video/BV1jY411p7Nk?zw

Dependencies

• Python 3.6
• PyBullet

Usage

First modify the self.project_dir in pybullet/main.py to the absolute path to this project in your computer.

Run the simulation:

cd space_robot

# (activate your python3 env)
python pybullet/main.py

• The URDF description files of the space robot, the target satellite, and the gripper are in urdf/ folder.
• Some quantitative simulation results are recorded and saved in results/ folder. To plot these results, run the corresponding scripts in pybullet/results/.