State Estimation and Recursive Newton-Euler Formula Computed Torque Control Considering Dynamic-Coupling of Free-Floating Robotic Satellite

In countries like the United States and Japan, which are at the forefront of space technology, research on robotic satellites began in the 1950s. Successful experiments in space were also conducted, including notable achievements like JAXA's ETS-VII (1997) and DARPA's ASTRO/NextSat (2007), which successfully accomplished docking maneuvers with the assistance of robot arms. However, research on robot satellites in Korea has been relatively inactive. In this trend, this paper is a basic research of the robot satellite conducted in Korea and focuses on estimating the system state. The estimated states were validated by comparing them with values provided by Simulink's Simscape Multibody Toolbox. Additionally, we presented the process for implementing recursive Newton-Euler inverse dynamics in feed-forward scheme, which adopted the estimated states to control manipulator mounted on the satellite.