On-ground validation of manipulator adaptive variable admittance control method for detumbling a space non-cooperative satellite

On-ground validation of manipulator adaptive variable admittance control method for detumbling a space non-cooperative satellite | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article On-ground validation of manipulator adaptive variable admittance control method for detumbling a space non-cooperative satellite Xinlin Bai, Xiwen Li, Zhen Zhao, Zhigang Xu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4945580/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 14 Jan, 2025 Read the published version in Scientific Reports → Version 1 posted 11 You are reading this latest preprint version Abstract To achieve rapid and stable detumbling of a space non-cooperative satellite, an adaptive variable admittance control method for the manipulator is proposed and verified through the on-ground experiment. The composition of the designed on-ground hardware-in-the-loop verification platform are first demonstrated, and on this basis, verification principle is elaborated. Subsequently, the control block diagram of the proposed method is presented, and the adaptive variable admittance compliant detumbling control model and the kinematic model of the manipulator are established. The proposed controller includes the fixed admittance controller in manipulator task space, the adaptive pose compensator for the grasping point on docking ring, and the damping adaptive regulator based on manipulator joint angular velocity, and the stability constraints of which are derived through the Routh criterion. Finally, the on-ground experiment process for detumbling a space non-cooperative spinning satellite is formulated, and the time sequence for its five phases is planned. The experimental results show that during the relative detumbling process, the spin angular velocity of the simulated space non-cooperative satellite gradually decreases to the desired value of − 0.089 ° /s, and the oscillation amplitude of angular velocity also continuously diminishes. At the end of this phase, absolute value of the angular velocity component deviation is only 0.019 ° /s. On-ground test verifies the effectiveness of the proposed method and provides vital basis for its further application. Physical sciences/Engineering/Aerospace engineering Physical sciences/Engineering Physical sciences/Engineering/Mechanical engineering Adaptive detumbling Variable admittance Manipulator Space non-cooperative satellite On-ground validation Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 14 Jan, 2025 Read the published version in Scientific Reports → Version 1 posted Editorial decision: Revision requested 31 Oct, 2024 Reviews received at journal 31 Oct, 2024 Reviewers agreed at journal 28 Oct, 2024 Reviews received at journal 04 Oct, 2024 Reviewers agreed at journal 25 Sep, 2024 Reviewers agreed at journal 23 Sep, 2024 Reviewers invited by journal 23 Sep, 2024 Editor assigned by journal 23 Sep, 2024 Editor invited by journal 21 Aug, 2024 Submission checks completed at journal 21 Aug, 2024 First submitted to journal 20 Aug, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4945580","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":355357913,"identity":"e8b181ee-ca29-46fd-9761-9e423bf1b04d","order_by":0,"name":"Xinlin Bai","email":"","orcid":"","institution":"Huazhong University of Science and Technology","correspondingAuthor":false,"prefix":"","firstName":"Xinlin","middleName":"","lastName":"Bai","suffix":""},{"id":355357914,"identity":"6ff34cf6-8d59-4391-b80e-3dd5b18ce731","order_by":1,"name":"Xiwen Li","email":"","orcid":"","institution":"Huazhong University of Science and Technology","correspondingAuthor":false,"prefix":"","firstName":"Xiwen","middleName":"","lastName":"Li","suffix":""},{"id":355357915,"identity":"8cacec13-4b6b-4720-a791-a45b2c26812c","order_by":2,"name":"Zhen Zhao","email":"","orcid":"","institution":"Aerospace System Engineering Shanghai","correspondingAuthor":false,"prefix":"","firstName":"Zhen","middleName":"","lastName":"Zhao","suffix":""},{"id":355357916,"identity":"30e0bbbf-0623-4f6b-8aae-99eb7ba393c0","order_by":3,"name":"Zhigang Xu","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAlElEQVRIiWNgGAWjYLCCDwwSJOpgnEGyFmYekpTL968xk7b5YyHPwH72ALGOepYmndsmYdjAk5dApKMkDh+Tzm2QYGyQ4DEgTgubxME2aYs/EvbEa+Hhbz4mDdSYSLwWCQm2ZMveNonkNp4cIrXI958xvPHjT51tP/sZIrUwSCRAaDYi1QMB/wHi1Y6CUTAKRsEIBQCSLiEWbM/9VgAAAABJRU5ErkJggg==","orcid":"","institution":"Shenyang Institute of Automation, Chinese Academy of Sciences","correspondingAuthor":true,"prefix":"","firstName":"Zhigang","middleName":"","lastName":"Xu","suffix":""}],"badges":[],"createdAt":"2024-08-20 14:01:46","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4945580/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4945580/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1038/s41598-025-86271-w","type":"published","date":"2025-01-14T15:58:02+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":74284700,"identity":"8bce7d7f-976f-46b5-ab8e-cdfb6368fbbe","added_by":"auto","created_at":"2025-01-20 16:11:09","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":872175,"visible":true,"origin":"","legend":"","description":"","filename":"TouGao20240820.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4945580/v1_covered_a4bcdf66-9018-4327-a752-a4686c1bef3f.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"On-ground validation of manipulator adaptive variable admittance control method for detumbling a space non-cooperative satellite","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Adaptive detumbling, Variable admittance, Manipulator, Space non-cooperative satellite, On-ground validation","lastPublishedDoi":"10.21203/rs.3.rs-4945580/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4945580/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eTo achieve rapid and stable detumbling of a space non-cooperative satellite, an adaptive variable admittance control method for the manipulator is proposed and verified through the on-ground experiment. The composition of the designed on-ground hardware-in-the-loop verification platform are first demonstrated, and on this basis, verification principle is elaborated. Subsequently, the control block diagram of the proposed method is presented, and the adaptive variable admittance compliant detumbling control model and the kinematic model of the manipulator are established. The proposed controller includes the fixed admittance controller in manipulator task space, the adaptive pose compensator for the grasping point on docking ring, and the damping adaptive regulator based on manipulator joint angular velocity, and the stability constraints of which are derived through the Routh criterion. Finally, the on-ground experiment process for detumbling a space non-cooperative spinning satellite is formulated, and the time sequence for its five phases is planned. The experimental results show that during the relative detumbling process, the spin angular velocity of the simulated space non-cooperative satellite gradually decreases to the desired value of \u0026minus;\u0026thinsp;0.089 \u003csup\u003e\u0026deg;\u003c/sup\u003e/s, and the oscillation amplitude of angular velocity also continuously diminishes. At the end of this phase, absolute value of the angular velocity component deviation is only 0.019 \u003csup\u003e\u0026deg;\u003c/sup\u003e/s. On-ground test verifies the effectiveness of the proposed method and provides vital basis for its further application.\u003c/p\u003e","manuscriptTitle":"On-ground validation of manipulator adaptive variable admittance control method for detumbling a space non-cooperative satellite","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2024-09-20 07:51:13","doi":"10.21203/rs.3.rs-4945580/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Revision requested","date":"2024-10-31T08:36:03+00:00","index":"","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2024-10-31T07:23:22+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"210332399130004601016135219226123968437","date":"2024-10-28T13:32:10+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2024-10-04T05:29:51+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"63382957296461557115094841528093260780","date":"2024-09-26T01:15:12+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"14173156870813664946032703281854375938","date":"2024-09-24T00:13:38+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2024-09-23T18:53:09+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2024-09-23T18:52:30+00:00","index":"","fulltext":""},{"type":"editorInvited","content":"","date":"2024-08-21T11:19:55+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2024-08-21T11:13:53+00:00","index":"","fulltext":""},{"type":"submitted","content":"Scientific Reports","date":"2024-08-20T13:59:43+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"9ee98c7c-5111-48c5-8dba-062de0e52ec0","owner":[],"postedDate":"September 20th, 2024","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"published-in-journal","subjectAreas":[{"id":37776321,"name":"Physical sciences/Engineering/Aerospace engineering"},{"id":37776322,"name":"Physical sciences/Engineering"},{"id":37776323,"name":"Physical sciences/Engineering/Mechanical engineering"}],"tags":[],"updatedAt":"2025-01-20T16:04:38+00:00","versionOfRecord":{"articleIdentity":"rs-4945580","link":"https://doi.org/10.1038/s41598-025-86271-w","journal":{"identity":"scientific-reports","isVorOnly":false,"title":"Scientific Reports"},"publishedOn":"2025-01-14 15:58:02","publishedOnDateReadable":"January 14th, 2025"},"versionCreatedAt":"2024-09-20 07:51:13","video":"","vorDoi":"10.1038/s41598-025-86271-w","vorDoiUrl":"https://doi.org/10.1038/s41598-025-86271-w","workflowStages":[]},"version":"v1","identity":"rs-4945580","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-4945580","identity":"rs-4945580","version":["v1"]},"buildId":"qtupq5eGEP_6zYnWcrvyt","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}