Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors, such as the European Space Agency's Orbital Robotics and GNC Lab (ORGL). This work proposes a control architecture for a floating platform at the ORGL, equipped with eight solenoid-valve-based thrusters and one reaction wheel. The control architecture consists of two main components: a trajectory planner that finds optimal trajectories connecting two states and a trajectory follower that follows any physically feasible trajectory. The controller is first evaluated within an introduced simulation, achieving a 100 % success rate at finding and following trajectories to the origin within a Monte-Carlo test. Individual trajectories are also successfully followed by the physical system. In this work, we showcase the ability of the controller to reject disturbances and follow a straight-line trajectory within tens of centimeters.

翻译：空间机器人应用,如主动空间碎片清除(ASDR)等空间机器人应用需要在发射前进行具有代表性的测试。模拟空间微重力环境的一个常用方法是平层的空基平台,如欧洲航天局的轨道机器人和GNC实验室(ORGL)。这项工作为ORGL的浮动平台提出了一个控制架构,该平台配备了8个单体阀基推进器和1个反应轮。控制架构由两个主要部分组成:找到连接两个州的最佳轨迹的轨迹规划器和跟踪任何实际可行的轨迹的轨迹跟踪器。控制器首先在引入的模拟中进行评估,在寻找和跟踪蒙特-卡洛测试中原轨迹时达到100%的成功率。个人轨迹也被物理系统成功地跟踪。在这项工作中,我们展示了控制器拒绝扰动和在数十厘米内遵循直线轨迹的能力。