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. 2019 Mar 27;6:14. doi: 10.3389/frobt.2019.00014

Table 3.

Selected guidance parameters used during the experiments.

. Parameter Value
Guidance Algorithm
Guidance re-compute rate 10 s
Maneuver time tf 70 s
Pre-set time tps 60 s
Number of nodes N1 = 26 and N2 = 20
Convergence threshold ϵ1,2 are set at 10% of J1,2[k1]
End-effector error to trigger capture ≤5 cm
Post-capture manipulator deceleration period 5 s
Chaser
Chaser base-spacecraft initial position x = 3.3 m, y = 3.3 m
Manipulator initial configuration θm(t = 0) = [-80°,-80°,0°]
Manipulator final configuration θm(tf) = [-60°,60°,0°]
RSO
RSO position x = 1 m, y = 1.3 m
RSO angular velocity 5 deg/s
Nominal RSO orientation at start of maneuver -100°
Mock solar panel dimensions 1 × 0.1 m
Main body dimensions 0.4 × 0.4 m