Autonomous and Opportunistic Capture of Large, Uncooperative Free-Floating Objects using a Robotic Manipulator

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Most people know it is extremely expensive to send a new satellite in space, and that manned spaceflights present enormous risks. But most people are not aware how crowded space is. With short-lived satellites and more than 50 years of space launches, the cluttering of defunct satellites and used rockets are jeopardizing space activities in the coming decades. Two solutions are being discussed: extending the life of satellites with on-orbit servicing to produce less debris and the active removal of existing debris. The research project proposed here aims to provide a technology that is critical to both of these solutions: a means to grab or dock to large objects in orbit without a human operator directly involved. For this purpose, a facility, unique in Canada, at the Aerospace Mechatronics Laboratory, can reproduce the scenario of two spacecrafts at a reaching distance of each other. On one side, a mobile robotic arm plays the role of the service spacecraft, while a special helium balloon emulates a large free-floating object in orbit. This unique test-bed allows for hands-on testing of the methods destined for space: a key qualifying step between theoretical models and real applications. New behavior-based software will be developed to allow the robotic arm to observe, approach and grasp the tumbling airship as it quickly passes by a reachable area. A driver of innovation will be interdisciplinary synergy at the Center for Intelligent Machines at McGill. On Earth, this research will impact the development of flexible solutions for robots in industry that can better co-exist with their human counter-parts, but also for robots of our future everyday-life. In space, from the Canadarm to the key role of Canadian systems on the International Space Station today, the Canadian space industry has proven its capacity for innovation and international cooperation in space robotics, let us hold this leadership role and secure a sustainable future on Earth and in orbit.