Speaker
Description
The robotic system developed within the Italian IOS PNRR mission constitutes a key enabling capability for the execution of advanced on-orbit servicing operations in Low Earth Orbit. The system is designed to support a wide range of mission scenarios, including target inspection, autonomous rendezvous and proximity operations, capture and berthing, orbit relocation, and in-orbit maintenance tasks such as Orbital Replacement Unit (ORU) handling.
The robotic architecture is centered on a multi-joint manipulator equipped with a versatile end-effector, specifically designed to operate in both cooperative and non-cooperative target conditions. Particular attention is devoted to robustness against uncertainties, including tumbling dynamics, limited knowledge of target interfaces, and constrained operational environments. The system is supported by a suite of dedicated subsystems, including force-torque sensing, vision-based navigation support, and control algorithms enabling compliant interaction and safe contact dynamics.
A key aspect of the development approach is the progressive maturation of the robotic technologies through a structured verification and validation campaign. Intermediate models, including Breadboard (BB) and Engineering Model (EM), are extensively tested to validate critical functionalities such as joint performance, control stability, grasping reliability, and mechanical interfaces. In particular, the EM robotic arm is used to perform confidence testing campaigns aimed at verifying system-level performance in representative conditions, without constituting a full qualification model. This approach allows early identification and mitigation of potential design issues while maintaining program schedule and cost efficiency.
The final Proto-Flight Model (PFM) is instead verified directly at system and platform level, ensuring full representativeness of the flight configuration and reducing integration risks at satellite level. This staged approach significantly mitigates the risk of late non-conformities, particularly in the interaction between the robotic system and other subsystems such as the Robotic Control Unit (RCU), where calibration and hardware tuning may be required.
The robotic system is designed to achieve a high level of autonomy, supporting complex operations such as autonomous approach, target capture, and post-capture stabilization. Advanced guidance, navigation, and control (GNC) techniques are integrated with perception algorithms to enable reliable operations even in degraded or partially unknown scenarios.
This presentation will outline the key elements described above, including the robotic system architecture, the adopted development and validation approach, and the achieved maturity level. In addition, it will present Leonardo’s strategic roadmap for the development of In-Orbit Servicing capabilities in Europe, highlighting the evolution from the IOS PNRR mission towards future operational and commercial scenarios.