A Simulation Tool to Evaluate Different Capture Strategies in a Berthing Maneuver

Abstract Space operations for satellite maintenance and space debris capture necessitate meticulous design and planning of contact maneuvers, which may include docking or berthing operations. Minimizing contact forces between the chaser and the target is crucial to prevent undesired repulsion or excessive torque demands on the chaser’s attitude control system. Various design parameters such as capture strategy, relative speeds, stiffness of components, and force directions influence these maneuvers. The MUSAPOEM project aims to develop a comprehensive simulation environment for analyzing and designing proximity operations. It focuses on modeling the initial contact phase between spacecraft using a robotic arm for target capture. The simulation tool incorporates detailed models of both spacecraft, of a seven-degree-of-freedom manipulator, and of their mechanical interfaces, with particular attention on the modeling of contact mechanics. The paper explores different capture maneuvers, evaluating the impact of capture strategy and robot motion planning on the chaser. Simulation results discuss exchanged forces, relative spacecraft motion, energy consumption by the robotic arm and the GNC during the maneuver. Additionally, the robustness of the system is tested throughout various maneuver simulations.