Prof. Ou Ma Profile

Prof. Ou Ma

Associate Professor, Dept of Mechanical Engg at New Mexico State Univ

SPIE Involvement:

Author

Proceedings Article | 25 May 2012 Paper

Control of a space robot for minimal attitude disturbance to the base satellite for capturing a tumbling satellite

Angel Flores-Abad, Ou Ma

Proceedings Volume 8385, 83850J (2012) https://doi.org/10.1117/12.918523

KEYWORDS: Satellites, Space robots, Space operations, Aerospace engineering, Robotics, Control systems, Mechanics, Analytical research, Dynamical systems, Lanthanum

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The use of a space manipulator (robot) for capturing a tumbling object is a risky and challenging task, mainly because when the manipulator onboard a servicing satellite (base satellite) intercepts with an external object for capture, the resulting impulse will be transferred along the mechanical arm down to the servicing satellite causing disturbance to the attitude of the satellite. Such disturbance may destabilize the servicing satellite if the captured object is tumbling and the physical contact between the robot end-effector and the object is not controlled properly. Certainly, the risk may be mitigated with a force or impedance control capability of the manipulator. However, the implementation of force or impedance control usually requires the robot to have a joint torque sensing and control capability which is a very expensive requirement for a space manipulator. To date, there has never been a really flown space manipulator having a joint torque control capability. Further, even a force or impedance control capability becomes available, much development is still needed before safe capture of a tumbling object can be confidently tried in a real mission. This paper presents an optimal control strategy for a space manipulator to have minimal impact to the base satellite during a capturing operation. The idea is to first predict an optimal future time and motion state for capturing and then control the manipulator to reach the determined motion state such that, when the tip of the robot maneuvers to and intercepts with the tumbling object, a minimal attitude disturbance to the servicing satellite will occur. The proposed control strategy can be implemented regardless whether the manipulator has a joint torque control capability or not. Since the control acts before a physical contact happens, it will not affect but actually augment any existing force or impedance control capability of the manipulator. The proposed method is demonstrated using a simulation example.

Proceedings Article | 21 May 2011 Paper

Control of industrial robots for hardware-in-the-loop simulation of satellite docking

Ou Ma, Melak Zebenay, Toralf Boge

Proceedings Volume 8044, 80440G (2011) https://doi.org/10.1117/12.886185

KEYWORDS: Satellites, Robots, Motion models, Computer simulations, Space operations, Control systems, Interfaces, Robotic systems, Space robots, Mathematical modeling

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Proceedings Article | 21 May 2011 Paper

Development of a suborbital flight experiment for validating a satellite inertia identification method

Gerardo Martinez, Marco Inzunza-Ibarra, Ivann Ferrel, Brandi Herrera, Ou Ma

Proceedings Volume 8044, 80440H (2011) https://doi.org/10.1117/12.887253

KEYWORDS: Satellites, Robotics, Algorithm development, Gyroscopes, Space operations, Sensors, Finite element methods, Control systems, Optical tracking, Data acquisition

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Proceedings Article | 8 May 2010 Paper

Zero-G experimental validation of a robotics-based inertia identification algorithm

Jeremy Bruggemann, Ivann Ferrel, Gerardo Martinez, Pu Xie, Ou Ma

Proceedings Volume 7691, 769105 (2010) https://doi.org/10.1117/12.849772

KEYWORDS: Robotics, Space operations, Satellites, Sensors, Calibration, Control systems, Velocity measurements, Algorithm development, Hardware testing, Computer simulations

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Proceedings Article | 29 April 2009 Paper

Angular-velocity tracking with unknown dynamics for satellite rendezvous and docking

Xiumin Diao, Jianxun Liang, Ou Ma

Proceedings Volume 7330, 733004 (2009) https://doi.org/10.1117/12.818250

KEYWORDS: Satellites, Adaptive control, Space operations, Control systems, Aerospace engineering, Robotics, Nonlinear control, Space telescopes, Safety, Robotic systems

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Proceedings Article | 3 May 2007 Paper

Simulation study of a robotics-based method for on-orbit identification of spacecraft inertia properties

Ou Ma, Hung Dang, Khanh Pham

Proceedings Volume 6555, 655519 (2007) https://doi.org/10.1117/12.719376

KEYWORDS: Space operations, Robotics, Velocity measurements, Solar cells, Satellites, Sensors, Kinematics, Solar energy, Space robots, Computing systems

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Proceedings Article | 31 May 2006 Paper

Dynamics of a robotics-based hardware-in-the-loop simulator for verifying microgravity contact dynamics

Xiumin Diao, Ou Ma, Michael Liu

Proceedings Volume 6221, 622104 (2006) https://doi.org/10.1117/12.665245

KEYWORDS: Computer simulations, Space operations, Motion models, Computing systems, Control systems, Space robots, Kinematics, Human-machine interfaces, Systems modeling, Atrial fibrillation

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Proceedings Article | 31 May 2006 Paper

A robotics-based testbed for verifying a method of identifying contact-dynamics model parameters

Ou Ma, Samuel Boyden

Proceedings Volume 6221, 622102 (2006) https://doi.org/10.1117/12.664694

KEYWORDS: Motion measurement, Sensors, 3D modeling, 3D metrology, Computer simulations, Mathematical modeling, Dynamical systems, Robotics, Computing systems, Robots

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Showing 5 of 8 publications

Conference Committee Involvement (16)

Industrial and Commercial Applications of Smart Structures Technologies IX

9 March 2015 | San Diego, California, United States

Sensors and Systems for Space Applications VII

5 May 2014 | Baltimore, MD, United States

Industrial and Commercial Applications of Smart Structures Technologies VIII

11 March 2014 | San Diego, California, United States

Sensors and Systems for Space Applications VI

29 April 2013 | Baltimore, Maryland, United States

Industrial and Commercial Applications of Smart Structures Technologies VII

10 March 2013 | San Diego, California, United States

Sensors and Systems for Space Applications V

23 April 2012 | Baltimore, Maryland, United States

Industrial and Commercial Applications of Smart Structures Technologies VI

12 March 2012 | San Diego, California, United States

Sensors and Systems for Space Applications IV

25 April 2011 | Orlando, Florida, United States

Industrial and Commercial Applications of Smart Structures Technologies V

7 March 2011 | San Diego, California, United States

Space Missions and Technologies

5 April 2010 | Orlando, Florida, United States

Industrial and Commercial Applications of Smart Structures Technologies IV

8 March 2010 | San Diego, California, United States

Sensors and Systems for Space Applications III

14 April 2009 | Orlando, Florida, United States

Industrial and Commercial Applications of Smart Structures Technologies III

9 March 2009 | San Diego, California, United States

Industrial and Commercial Applications of Smart Structures Technologies II

10 March 2008 | San Diego, California, United States

Industrial and Commercial Applications of Smart Structures Technologies

19 March 2007 | San Diego, California, United States

Intelligent Systems in Design and Manufacturing VI

24 October 2005 | Boston, MA, United States

Showing 5 of 16 Conference Committees

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