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All these robotic servicing mission concepts require that a robotic arm captures the target in a safe and secure manner given operational and environmental constraints. Recently, the population growth has reached an unstable point in some congested orbits ( Brachet, 2010). Orbital debris removal using a SMS is also becoming of particular interest as space debris is on the rise, increasing the risk of collisions. These research works were motivated by several national and international missions not only for repairing, rescuing, and refueling failed satellites, but also for removal of defunct satellites or space debris ( Kawamoto et al., 2003 Aghili and Turin, 2012b). Since the 1990s, the paradigm of on-orbit servicing using a SMS has attracted the interest of many researchers, see, for example, ( Luo and Sakawa, 1990 Papadopoulos and Moosavian, 1994 Nagamatsu et al., 1996 Hirzinger, et al., 2000 Yoshida et al., 2006 Ma et al., 2007 Rekleitis, et al., 2007 Flores-Abad et al., 2017 Yoshida, 2003 Aghili and Parsa, 2007 Aghili and Parsa, 2009 Aghili, 2012 Aghili, 2020). An SMS also can be a large servicing manipulator mounted on a space facility.
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An SMS consists of a satellite base equipped with one or more robotic manipulators (arms) with grappling devices on them and driven by a vision system which allows them to capture a target (client) satellite, or another object. To execute on-orbit tasks being inaccessible to, or too dangerous for humans, robotic on-orbit servicing (OOS) can be employed, with tasks to be performed by space manipulator systems (SMSs), also called chasers or servicers in the literature.
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For critical space assets located in Geosynchronous Orbits (GEO) or other high-altitude orbits, EVA is not even an option in the foreseeable future. Unfortunately, this increases mission costs and turn-around time drastically, making servicing missions too costly, of prolonged development, or even unfeasible. However, EVAs are by nature risky operations requiring careful planning and preparation. Until now, all notable servicing tasks have been performed at Low Earth Orbit (LEO) by astronaut Extravehicular Activities (EVAs). Space exploration and exploitation depend on tasks such as inspecting, refueling, upgrading, repairing, or rescuing satellites, removing of orbital debris, and construction and maintenance of large orbital assets and infrastructures. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets.
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