Over a couple of decades, space junk has increased rapidly, which has caused significant threats to the LEO operation satellites. An Active Debris Removal $(ADR)$ concept continuously evolves for space junk removal. One of the ADR methods is Space Robotics, whose function is to chase, capture and de-orbit the space junk. This paper presents the development of an on-ground space robotics facility in the TCS Research for on-orbit servicing $(OOS)$ like refueling and debris capture experiments. A Hardware in Loop Simulation (HILS) system will be used for integrated system development, testing, and demonstration of on-orbit docking mechanisms. The HiLS test facility of TCS Research Lab will use two URs in which one UR is attached to the RG2 gripper, and the other is attached to a force-torque sensor and with a scaled mock-up model. The first UR5 will be mounted on a 7-axis linear rail and contain the docking probe. First, UR5 with a suitable gripper has to interface its control boxes. The grasping algorithm was run through the ROS interface line to demonstrate and validate the on-orbit operations. The manipulator will be mounted with LIDAR and a camera to visualize the mock-up model, find the target model's pose and rotational velocity estimation, and a gripper that will move relative to the target model. The other manipulator has the UR10 control, providing rotational and random motion to the mockup, enabling a dynamic simulator fed by force-torque data. The dynamic simulator is fed up with the orbit propagator, which will provide the orbiting environment to the target model. For the simulation of the docking and grasping of the target model, a linear rail of a 6m setup is still in the procurement process. Once reaching proximity, the grasping algorithm will be launched to capture the target model after reading the random motion of the mock-up model.

翻译：数十年来，空间碎片急剧增加，对低地球轨道运行卫星构成严重威胁。主动碎片清除（ADR）概念不断发展以应对空间碎片清理需求。其中一种ADR方法采用空间机器人技术，其功能在于追踪、捕获并离轨空间碎片。本文介绍了塔塔咨询服务（TCS）研究院为在轨服务（OOS）实验（如燃料加注和碎片捕获）开发的地面空间机器人设施。硬件在环仿真（HILS）系统将用于集成系统开发、测试以及在轨对接机构的演示验证。TCS研究实验室的HiLS测试设施将使用两台UR机械臂：一台配备RG2夹爪，另一台安装力-力矩传感器及缩比模型。首台UR5将安装于七轴线性导轨上，并装载对接探针。该UR5需首先通过匹配夹爪与控制箱进行接口连接。通过ROS接口线运行抓取算法以演示验证在轨操作。该机械臂将搭载激光雷达（LIDAR）与摄像头，用于可视化缩比模型、计算目标模型的位姿与旋转速度估计值，并驱动夹爪相对目标模型移动。另一台UR10控制机械臂为缩比模型提供旋转与随机运动，形成由力-力矩数据驱动的动态仿真器。该动态仿真器接入轨道传播器，为目标模型提供在轨环绕环境。用于模拟目标模型对接与抓取的6米线性导轨装置尚处于采购阶段。当接近目标后，系统将读取缩比模型的随机运动状态，继而启动抓取算法完成目标捕获。